CVehicleSimul_Holo.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/kinematics/CVehicleSimulVirtualBase.h>
#include <mrpt/kinematics/CVehicleVelCmd_Holo.h>
 
namespace mrpt
{
namespace kinematics
{
/** Kinematic simulator of a holonomic 2D robot capable of moving in any
 * direction, with "blended"
  * velocity profiles. See CVehicleSimul_Holo::sendVelCmd() for a description of
 * the velocity commands in this kinematic model.
 * \ingroup mrpt_kinematics_grp
  */
class CVehicleSimul_Holo : public CVehicleSimulVirtualBase
{
   public:
        using kinematic_cmd_t = CVehicleVelCmd_Holo;
 
        CVehicleSimul_Holo();
 
        /** Sends a velocity cmd to the holonomic robot.
         *   \param[in] vel Linear speed (m/s)
         *   \param[in] dir Direction (rad) (In the odometry frame of reference)
         *   \param[in] ramp_time Blend the cmd during this period (seconds)
         *   \param[in] rot_speed Rotational speed while there is heading error and
         * to this constant (rad/s)
         */
        void sendVelRampCmd(
                double vel, double dir, double ramp_time, double rot_speed);
 
        void sendVelCmd(const CVehicleVelCmd& cmd_vel) override
        {
                const kinematic_cmd_t* cmd =
                        dynamic_cast<const kinematic_cmd_t*>(&cmd_vel);
                ASSERTMSG_(
                        cmd,
                        "Wrong vehicle kinematic class, expected `CVehicleVelCmd_Holo`");
                sendVelRampCmd(
                        cmd->vel,
                        cmd->dir_local + m_odometry.phi /* local to odometry dir */,
                        cmd->ramp_time, cmd->rot_speed);
        }
        CVehicleVelCmd::Ptr getVelCmdType() const override
        {
                return CVehicleVelCmd::Ptr(new kinematic_cmd_t());
        }
 
   private:
        /** @name Vel ramp cmds
         *  @{ */
        struct TVelRampCmd
        {
                /** time when the cmd was issued. (<0: invalid, means there are no
                 * pending cmds to execute) */
                double issue_time;
                double target_vel_x, target_vel_y, ramp_time, rot_speed, dir;
                mrpt::math::TTwist2D init_vel;
 
                TVelRampCmd() : issue_time(-1.0) {}
        };
        /** the last cmd received from the user. */
        TVelRampCmd m_vel_ramp_cmd;
        /** @} */
 
        void internal_simulControlStep(const double dt) override;
        void internal_clear() override;
};
}
}