MRPT  2.0.4
CPTG_DiffDrive_CS.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, 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 #pragma once
10 
12 
13 namespace mrpt::nav
14 {
15 /** A PTG for optimal paths of type "CS", as named in PTG papers.
16  * - **Compatible kinematics**: differential-driven / Ackermann steering
17  * - **Compatible robot shape**: Arbitrary 2D polygon
18  * - **PTG parameters**: Use the app `ptg-configurator`
19  *
20  * See "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And Autom,
21  * 1999.
22  * \note [Before MRPT 1.5.0 this was named CPTG5]
23  * \ingroup nav_tpspace
24  */
26 {
28  public:
29  CPTG_DiffDrive_CS() = default;
31  const mrpt::config::CConfigFileBase& cfg, const std::string& sSection)
32  {
33  loadFromConfigFile(cfg, sSection);
34  }
35  void loadFromConfigFile(
37  const std::string& sSection) override;
38  void saveToConfigFile(
40  const std::string& sSection) const override;
41 
42  std::string getDescription() const override;
43  bool PTG_IsIntoDomain(double x, double y) const override;
45  float alpha, float t, float x, float y, float phi, float& v,
46  float& w) const override;
47  void loadDefaultParams() override;
48 
49  protected:
50  double R{0}, K{0};
51 };
52 } // namespace mrpt::nav
bool PTG_IsIntoDomain(double x, double y) const override
Returns the same than inverseMap_WS2TP() but without any additional cost.
std::string getDescription() const override
Gets a short textual description of the PTG and its parameters.
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...
void loadFromConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override
Possible values in "params" (those in CParameterizedTrajectoryGenerator, which is called internally...
This class allows loading and storing values and vectors of different types from a configuration text...
CPTG_DiffDrive_CS(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection)
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 loadDefaultParams() override
Loads a set of default parameters; provided exclusively for the PTG-configurator tool.
A PTG for optimal paths of type "CS", as named in PTG papers.
Base class for all PTGs suitable to non-holonomic, differentially-driven (or Ackermann) vehicles base...
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...



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