MRPT  1.9.9
mrpt::kinematics::CVehicleVelCmd_Holo Class Reference

Detailed Description

Kinematic model for.

Definition at line 19 of file CVehicleVelCmd_Holo.h.

#include <mrpt/kinematics/CVehicleVelCmd_Holo.h>

Inheritance diagram for mrpt::kinematics::CVehicleVelCmd_Holo:

Public Member Functions

 CVehicleVelCmd_Holo ()
 
 CVehicleVelCmd_Holo (double vel, double dir_local, double ramp_time, double rot_speed)
 
 ~CVehicleVelCmd_Holo () override
 
size_t getVelCmdLength () const override
 Get number of components in each velocity command. More...
 
std::string getVelCmdDescription (const int index) const override
 Get textual, human-readable description of each velocity command component. More...
 
double getVelCmdElement (const int index) const override
 Get each velocity command component. More...
 
void setVelCmdElement (const int index, const double val) override
 Set each velocity command component. More...
 
bool isStopCmd () const override
 Returns true if the command means "do not move" / "stop". More...
 
void setToStop () override
 Set to a command that means "do not move" / "stop". More...
 
void cmdVel_scale (double vel_scale) override
 Scale the velocity command encoded in this object. More...
 
double cmdVel_limits (const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params) override
 Updates this command, computing a blended version of beta (within [0,1]) of vel_cmd and 1-beta of prev_vel_cmd, simultaneously to honoring any user-side maximum velocities. More...
 
std::string asString () const
 Returns a human readable description of the cmd. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Public Attributes

double vel {.0}
 speed(m / s) More...
 
double dir_local {.0}
 : direction, relative to the current robot heading (radians). More...
 
double ramp_time {.0}
 : Blending time between current and target time. More...
 
double rot_speed {.0}
 : (rad/s) rotational speed for rotating such as the robot slowly faces forward. More...
 

Protected Member Functions

CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CVehicleVelCmd_Holo >
 
using ConstPtr = std::shared_ptr< const CVehicleVelCmd_Holo >
 
using UniquePtr = std::unique_ptr< CVehicleVelCmd_Holo >
 
using ConstUniquePtr = std::unique_ptr< const CVehicleVelCmd_Holo >
 
static mrpt::rtti::CLASSINIT _init_CVehicleVelCmd_Holo
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CVehicleVelCmd_Holo"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ UniquePtr

Definition at line 21 of file CVehicleVelCmd_Holo.h.

Constructor & Destructor Documentation

◆ CVehicleVelCmd_Holo() [1/2]

CVehicleVelCmd_Holo::CVehicleVelCmd_Holo ( )
default

◆ CVehicleVelCmd_Holo() [2/2]

CVehicleVelCmd_Holo::CVehicleVelCmd_Holo ( double  vel,
double  dir_local,
double  ramp_time,
double  rot_speed 
)

Definition at line 21 of file CVehicleVelCmd_Holo.cpp.

◆ ~CVehicleVelCmd_Holo()

CVehicleVelCmd_Holo::~CVehicleVelCmd_Holo ( )
overridedefault

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_Holo::_GetBaseClass ( )
staticprotected

◆ asString()

std::string mrpt::kinematics::CVehicleVelCmd::asString ( ) const
inherited

Returns a human readable description of the cmd.

Definition at line 22 of file CVehicleVelCmd.cpp.

References mrpt::format().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::kinematics::CVehicleVelCmd_Holo::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ cmdVel_limits()

double CVehicleVelCmd_Holo::cmdVel_limits ( const mrpt::kinematics::CVehicleVelCmd prev_vel_cmd,
const double  beta,
const TVelCmdParams params 
)
overridevirtual

Updates this command, computing a blended version of beta (within [0,1]) of vel_cmd and 1-beta of prev_vel_cmd, simultaneously to honoring any user-side maximum velocities.

Returns
The [0,1] ratio that the cmdvel had to be scaled down, or 1.0 if none.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 132 of file CVehicleVelCmd_Holo.cpp.

References ASSERTMSG_, rot_speed, and vel.

◆ cmdVel_scale()

void CVehicleVelCmd_Holo::cmdVel_scale ( double  vel_scale)
overridevirtual

Scale the velocity command encoded in this object.

Parameters
[in]vel_scaleA scale within [0,1] reflecting how much should be the raw velocity command be lessen (e.g. for safety reasons,...).
[out]out_vel_cmdUsers can directly inherit from existing implementations instead of manually redefining this method:

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 123 of file CVehicleVelCmd_Holo.cpp.

References vel.

◆ Create()

template<typename... Args>
static Ptr mrpt::kinematics::CVehicleVelCmd_Holo::Create ( Args &&...  args)
inlinestatic

Definition at line 21 of file CVehicleVelCmd_Holo.h.

Referenced by mrpt::nav::CNavigatorManualSequence::loadConfigFile().

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◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::kinematics::CVehicleVelCmd_Holo::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::kinematics::CVehicleVelCmd_Holo::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::kinematics::CVehicleVelCmd_Holo::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ getClassName()

static constexpr auto mrpt::kinematics::CVehicleVelCmd_Holo::getClassName ( )
inlinestatic

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_Holo::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::kinematics::CVehicleVelCmd.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::kinematics::CVehicleVelCmd_Holo::GetRuntimeClassIdStatic ( )
static

◆ getVelCmdDescription()

std::string CVehicleVelCmd_Holo::getVelCmdDescription ( const int  index) const
overridevirtual

Get textual, human-readable description of each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 32 of file CVehicleVelCmd_Holo.cpp.

References THROW_EXCEPTION_FMT.

◆ getVelCmdElement()

double CVehicleVelCmd_Holo::getVelCmdElement ( const int  index) const
overridevirtual

Get each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 53 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, THROW_EXCEPTION_FMT, and vel.

◆ getVelCmdLength()

size_t CVehicleVelCmd_Holo::getVelCmdLength ( ) const
overridevirtual

Get number of components in each velocity command.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 31 of file CVehicleVelCmd_Holo.cpp.

◆ isStopCmd()

bool CVehicleVelCmd_Holo::isStopCmd ( ) const
overridevirtual

Returns true if the command means "do not move" / "stop".

See also
setToStop

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 95 of file CVehicleVelCmd_Holo.cpp.

References rot_speed, and vel.

◆ serializeFrom() [1/2]

void CVehicleVelCmd_Holo::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 104 of file CVehicleVelCmd_Holo.cpp.

References dir_local, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, ramp_time, rot_speed, and vel.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CVehicleVelCmd_Holo::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 117 of file CVehicleVelCmd_Holo.cpp.

◆ serializeTo() [1/2]

void CVehicleVelCmd_Holo::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 118 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, and vel.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setToStop()

void CVehicleVelCmd_Holo::setToStop ( )
overridevirtual

Set to a command that means "do not move" / "stop".

See also
isStopCmd

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 100 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, and vel.

◆ setVelCmdElement()

void CVehicleVelCmd_Holo::setVelCmdElement ( const int  index,
const double  val 
)
overridevirtual

Set each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 74 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, THROW_EXCEPTION_FMT, val, and vel.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ _init_CVehicleVelCmd_Holo

mrpt::rtti::CLASSINIT mrpt::kinematics::CVehicleVelCmd_Holo::_init_CVehicleVelCmd_Holo
staticprotected

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ className

constexpr const char* mrpt::kinematics::CVehicleVelCmd_Holo::className = "CVehicleVelCmd_Holo"
static

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ dir_local

double mrpt::kinematics::CVehicleVelCmd_Holo::dir_local {.0}

: direction, relative to the current robot heading (radians).

0 means forward.

Definition at line 27 of file CVehicleVelCmd_Holo.h.

Referenced by getVelCmdElement(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

◆ ramp_time

double mrpt::kinematics::CVehicleVelCmd_Holo::ramp_time {.0}

: Blending time between current and target time.

Definition at line 29 of file CVehicleVelCmd_Holo.h.

Referenced by getVelCmdElement(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

◆ rot_speed

double mrpt::kinematics::CVehicleVelCmd_Holo::rot_speed {.0}

: (rad/s) rotational speed for rotating such as the robot slowly faces forward.

Definition at line 32 of file CVehicleVelCmd_Holo.h.

Referenced by cmdVel_limits(), getVelCmdElement(), isStopCmd(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd_Holo::runtimeClassId
staticprotected

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ vel

double mrpt::kinematics::CVehicleVelCmd_Holo::vel {.0}



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