class mrpt::kinematics::CVehicleVelCmd_DiffDriven

Overview

Kinematic model for Ackermann-like or differential-driven vehicles.

#include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>

class CVehicleVelCmd_DiffDriven: public mrpt::kinematics::CVehicleVelCmd
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::kinematics ::CVehicleVelCmd_DiffDriven> Ptr;
    typedef std::shared_ptr<const mrpt::kinematics ::CVehicleVelCmd_DiffDriven> ConstPtr;
    typedef std::unique_ptr<mrpt::kinematics ::CVehicleVelCmd_DiffDriven> UniquePtr;
    typedef std::unique_ptr<const mrpt::kinematics ::CVehicleVelCmd_DiffDriven> ConstUniquePtr;

    // fields

    static constexpr const char* className = "mrpt::kinematics" "::" "CVehicleVelCmd_DiffDriven";
    double lin_vel {.0};
    double ang_vel {.0};

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    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::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;
    virtual size_t getVelCmdLength() const;
    virtual std::string getVelCmdDescription(const int index) const;
    virtual double getVelCmdElement(const int index) const;
    virtual void setVelCmdElement(const int index, const double val);
    virtual bool isStopCmd() const;
    virtual void setToStop();
    virtual void cmdVel_scale(double vel_scale);
    virtual double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta, const TVelCmdParams& params);
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CVehicleVelCmd> Ptr;
    typedef std::shared_ptr<const CVehicleVelCmd> ConstPtr;

    // structs

    struct TVelCmdParams;

    // methods

    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    CVehicleVelCmd& operator = (const CVehicleVelCmd& other);
    virtual size_t getVelCmdLength() const = 0;
    virtual std::string getVelCmdDescription(const int index) const = 0;
    virtual double getVelCmdElement(const int index) const = 0;
    virtual void setVelCmdElement(const int index, const double val) = 0;
    virtual bool isStopCmd() const = 0;
    virtual void setToStop() = 0;
    virtual std::string asString() const;
    virtual void cmdVel_scale(double vel_scale) = 0;
    virtual double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta, const TVelCmdParams& params) = 0;

Typedefs

typedef std::shared_ptr<mrpt::kinematics ::CVehicleVelCmd_DiffDriven> Ptr

A type for the associated smart pointer.

Fields

double lin_vel {.0}

Linear velocity (m/s)

double ang_vel {.0}

Angular velocity (rad/s)

Methods

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

virtual mrpt::rtti::CObject* clone() const

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

virtual size_t getVelCmdLength() const

Get number of components in each velocity command.

virtual std::string getVelCmdDescription(const int index) const

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

virtual double getVelCmdElement(const int index) const

Get each velocity command component.

virtual void setVelCmdElement(const int index, const double val)

Set each velocity command component.

virtual bool isStopCmd() const

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