CVehicleVelCmd_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/CVehicleVelCmd.h>
 
namespace mrpt
{
namespace kinematics
{
/** Kinematic model for
*
* \ingroup mrpt_kinematics_grp
*/
class CVehicleVelCmd_Holo : public CVehicleVelCmd
{
        DEFINE_SERIALIZABLE(CVehicleVelCmd_Holo)
   public:
        /** speed(m / s) */
        double vel;
        /**: direction, **relative** to the current robot heading (radians). 0 means
         * forward. */
        double dir_local;
        /**: Blending time between current and target time. */
        double ramp_time;
        /**: (rad/s) rotational speed for rotating such as the robot slowly faces
         * forward. */
        double rot_speed;
 
        CVehicleVelCmd_Holo();
        CVehicleVelCmd_Holo(
                double vel, double dir_local, double ramp_time, double rot_speed);
        virtual ~CVehicleVelCmd_Holo();
        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 base class docs.
        void cmdVel_scale(double vel_scale) override;
        double cmdVel_limits(
                const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta,
                const TVelCmdParams& params) override;
};
 
}  // End of namespace
}  // End of namespace