CVehicleVelCmd_DiffDriven.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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/CVehicleVelCmd.h>
 
namespace mrpt
{
namespace kinematics
{
/** Kinematic model for Ackermann-like or differential-driven vehicles.
 *
 * \ingroup mrpt_kinematics_grp
 */
class CVehicleVelCmd_DiffDriven : public CVehicleVelCmd
{
        DEFINE_SERIALIZABLE(CVehicleVelCmd_DiffDriven)
   public:
        /** Linear velocity (m/s) */
        double lin_vel{.0};
        /** Angular velocity (rad/s) */
        double ang_vel{.0};
 
        virtual ~CVehicleVelCmd_DiffDriven();
        size_t getVelCmdLength() const override;
        std::string getVelCmdDescription(const int index) const override;
        double getVelCmdElement(const int index) const override;
        void setVelCmdElement(const int index, const double val) override;
        bool isStopCmd() const override;
        void setToStop() override;
 
        /** See docs of method in base class. The implementation for
         * differential-driven robots of this method
         * just multiplies all the components of vel_cmd times vel_scale, which is
         * appropriate
         *  for differential-driven kinematic models (v,w).
         */
        void cmdVel_scale(double vel_scale) override;
 
        /** See base class docs.
         * Tecognizes these parameters: `robotMax_V_mps`, `robotMax_W_degps` */
        double cmdVel_limits(
                const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta,
                const TVelCmdParams& params) override;
 
   private:
        double filter_max_vw(double& v, double& w, const TVelCmdParams& p);
};
 
}  // namespace kinematics
}  // namespace mrpt