Go to the documentation of this file.
36 const int WN = 25, WV = 30;
40 sSection,
"K", K, WN, WV,
41 "K=+1 forward paths; K=-1 for backwards paths.");
71 os::sprintf(str, 100,
"CPTG_DiffDrive_CC,K=%i", (
int)K);
76 float alpha,
float t,
float x,
float y,
float phi,
float&
v,
float&
w)
const
81 float u = fabs(
alpha) * 0.5f;
83 if (
t < u *
R / V_MAX)
89 else if (
t < (u +
M_PI * 0.5f) *
R / V_MAX)
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 write(const std::string §ion, 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())
virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override
Possible values in "params" (those in CParameterizedTrajectoryGenerator, which is called internally,...
void loadDefaultParams() override
Loads a set of default parameters; provided exclusively for the PTG-configurator tool.
#define MRPT_UNUSED_PARAM(a)
Determines whether this is an X86 or AMD64 platform.
IMPLEMENTS_SERIALIZABLE(CPTG_DiffDrive_CC, CParameterizedTrajectoryGenerator, mrpt::nav) void CPTG_DiffDrive_CC
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
GLubyte GLubyte GLubyte GLubyte w
GLclampf GLclampf GLclampf alpha
T square(const T x)
Inline function for the square of a number.
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
virtual void loadDefaultParams() override
Loads a set of default parameters; provided exclusively for the PTG-configurator tool.
Virtual base class for "archives": classes abstracting I/O streams.
#define MRPT_LOAD_CONFIG_VAR_NO_DEFAULT( variableName, variableType, configFileObject, sectionNameStr)
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
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...
void internal_writeToStream(mrpt::serialization::CArchive &out) const override
virtual 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...
virtual 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.
virtual 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 internal_readFromStream(mrpt::serialization::CArchive &in) override
A PTG for optimal paths of type "C|C" , as named in PTG papers.
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
GLsizei const GLchar ** string
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
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...
This is the base class for any user-defined PTG.
This namespace provides a OS-independent interface to many useful functions: filenames manipulation,...
Page generated by Doxygen 1.8.17 for MRPT 1.9.9 Git: ad3a9d8ae Tue May 1 23:10:22 2018 -0700 at miƩ 12 jul 2023 10:03:34 CEST | |