MRPT  1.9.9
CPTG_DiffDrive_CS.cpp
Go to the documentation of this file.
1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include "nav-precomp.h" // Precomp header
11 
14 #include <mrpt/system/os.h>
15 
16 using namespace mrpt;
17 using namespace mrpt::nav;
18 using namespace std;
19 using namespace mrpt::system;
20 
23 
25  const mrpt::config::CConfigFileBase& cfg, const std::string& sSection)
26 {
28 
29  MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(K, double, cfg, sSection);
30 
31  // The constant curvature turning radius used in this PTG:
32  R = V_MAX / W_MAX;
33 }
35  mrpt::config::CConfigFileBase& cfg, const std::string& sSection) const
36 {
38  const int WN = 25, WV = 30;
40 
41  cfg.write(
42  sSection, "K", K, WN, WV,
43  "K=+1 forward paths; K=-1 for backwards paths.");
44 
45  MRPT_END
46 }
47 
49  mrpt::serialization::CArchive& in, uint8_t version)
50 {
52 
53  switch (version)
54  {
55  case 0:
56  in >> K;
57  break;
58  default:
60  };
61 }
62 
63 uint8_t CPTG_DiffDrive_CS::serializeGetVersion() const { return 0; }
65 {
67  out << K;
68 }
70 {
71  char str[100];
72  os::sprintf(str, 100, "CPTG_DiffDrive_CS,K=%i", (int)K);
73  return std::string(str);
74 }
75 
77  float alpha, float t, float x, float y, float phi, float& v, float& w) const
78 {
81  MRPT_UNUSED_PARAM(phi);
82  const float T = 0.847f * std::sqrt(std::abs(alpha)) * R / V_MAX;
83 
84  if (t < T)
85  {
86  // l+
87  v = V_MAX;
88  w = W_MAX * min(1.0f, 1.0f - (float)exp(-square(alpha)));
89  }
90  else
91  {
92  // s+:
93  v = V_MAX;
94  w = 0;
95  }
96 
97  // Turn in the opposite direction??
98  if (alpha < 0) w *= -1;
99 
100  v *= K;
101  w *= K;
102 }
103 
104 bool CPTG_DiffDrive_CS::PTG_IsIntoDomain(double x, double y) const
105 {
106  // If signs of K and X are different, it is not into the domain:
107  if ((K * x) < 0) return false;
108 
109  if (fabs(y) >= R)
110  {
111  // Segmento de arriba:
112  return (fabs(x) > R - 0.10f);
113  }
114  else
115  {
116  // The circle at (0,R):
117  return (square(x) + square(fabs(y) - (R + 0.10f))) > square(R);
118  }
119 }
120 
122 {
124  K = +1.0;
125 }
GLclampf GLclampf GLclampf alpha
Definition: glext.h:3529
#define MRPT_START
Definition: exceptions.h:241
GLdouble GLdouble t
Definition: glext.h:3695
bool PTG_IsIntoDomain(double x, double y) const override
Returns the same than inverseMap_WS2TP() but without any additional cost.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override
Possible values in "params" (those in CParameterizedTrajectoryGenerator, which is called internally...
std::string getDescription() const override
Gets a short textual description of the PTG and its parameters.
void internal_readFromStream(mrpt::serialization::CArchive &in) override
STL namespace.
GLubyte GLubyte GLubyte GLubyte w
Definition: glext.h:4199
void ptgDiffDriveSteeringFunction(float alpha, float t, float x, float y, float phi, float &v, float &w) const override
The main method to be implemented in derived classes: it defines the differential-driven differential...
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
Definition: exceptions.h:97
T square(const T x)
Inline function for the square of a number.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override
Possible values in "params" (those in CParameterizedTrajectoryGenerator, which is called internally...
This is the base class for any user-defined PTG.
This class allows loading and storing values and vectors of different types from a configuration text...
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
void saveToConfigFile(mrpt::config::CConfigFileBase &cfg, const std::string &sSection) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
#define MRPT_LOAD_CONFIG_VAR_NO_DEFAULT( variableName, variableType, configFileObject, sectionNameStr)
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
GLsizei const GLchar ** string
Definition: glext.h:4116
void write(const std::string &section, const std::string &name, enum_t value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())
const GLdouble * v
Definition: glext.h:3684
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Virtual base class for "archives": classes abstracting I/O streams.
Definition: CArchive.h:54
const float R
void loadDefaultParams() override
Loads a set of default parameters; provided exclusively for the PTG-configurator tool.
#define MRPT_END
Definition: exceptions.h:245
GLuint in
Definition: glext.h:7391
A PTG for optimal paths of type "CS", as named in PTG papers.
GLenum GLint GLint y
Definition: glext.h:3542
void loadDefaultParams() override
Loads a set of default parameters; provided exclusively for the PTG-configurator tool.
GLenum GLint x
Definition: glext.h:3542
void saveToConfigFile(mrpt::config::CConfigFileBase &cfg, const std::string &sSection) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
int sprintf(char *buf, size_t bufSize, const char *format,...) noexcept MRPT_printf_format_check(3
An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compiler...
Definition: os.cpp:191
IMPLEMENTS_SERIALIZABLE(CPTG_DiffDrive_CS, CParameterizedTrajectoryGenerator, mrpt::nav) void CPTG_DiffDrive_CS
void internal_writeToStream(mrpt::serialization::CArchive &out) const override
#define MRPT_UNUSED_PARAM(a)
Determines whether this is an X86 or AMD64 platform.
Definition: common.h:186



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: abb8b1a1e Fri Oct 18 14:19:12 2019 +0200 at vie oct 18 14:20:13 CEST 2019