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CVehicleVelCmd_Holo.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
12 
13 namespace mrpt
14 {
15 namespace kinematics
16 {
17 /** Kinematic model for
18 *
19 * \ingroup mrpt_kinematics_grp
20 */
22 {
24  public:
25  /** speed(m / s) */
26  double vel;
27  /**: direction, **relative** to the current robot heading (radians). 0 means
28  * forward. */
29  double dir_local;
30  /**: Blending time between current and target time. */
31  double ramp_time;
32  /**: (rad/s) rotational speed for rotating such as the robot slowly faces
33  * forward. */
34  double rot_speed;
35 
38  double vel, double dir_local, double ramp_time, double rot_speed);
39  virtual ~CVehicleVelCmd_Holo();
40  size_t getVelCmdLength() const override;
41  std::string getVelCmdDescription(const int index) const override;
42  double getVelCmdElement(const int index) const override;
43  void setVelCmdElement(const int index, const double val) override;
44  bool isStopCmd() const override;
45  void setToStop() override;
46 
47  // See base class docs.
48  void cmdVel_scale(double vel_scale) override;
49  double cmdVel_limits(
50  const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta,
51  const TVelCmdParams& params) override;
52 };
53 
54 } // End of namespace
55 } // End of namespace
mrpt::kinematics::CVehicleVelCmd_Holo::~CVehicleVelCmd_Holo
virtual ~CVehicleVelCmd_Holo()
Definition: CVehicleVelCmd_Holo.cpp:32
mrpt::kinematics::CVehicleVelCmd_Holo::getVelCmdDescription
std::string getVelCmdDescription(const int index) const override
Get textual, human-readable description of each velocity command component.
Definition: CVehicleVelCmd_Holo.cpp:34
mrpt::kinematics::CVehicleVelCmd_Holo::setToStop
void setToStop() override
Set to a command that means "do not move" / "stop".
Definition: CVehicleVelCmd_Holo.cpp:102
mrpt::kinematics::CVehicleVelCmd_Holo::cmdVel_scale
void cmdVel_scale(double vel_scale) override
Scale the velocity command encoded in this object.
Definition: CVehicleVelCmd_Holo.cpp:125
mrpt::kinematics::CVehicleVelCmd::TVelCmdParams
Parameters that may be used by cmdVel_limits() in any derived classes.
Definition: CVehicleVelCmd.h:50
mrpt::kinematics::CVehicleVelCmd_Holo::vel
double vel
speed(m / s)
Definition: CVehicleVelCmd_Holo.h:26
mrpt::kinematics::CVehicleVelCmd_Holo::getVelCmdLength
size_t getVelCmdLength() const override
Get number of components in each velocity command.
Definition: CVehicleVelCmd_Holo.cpp:33
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition: CKalmanFilterCapable.h:30
mrpt::kinematics::CVehicleVelCmd_Holo::setVelCmdElement
void setVelCmdElement(const int index, const double val) override
Set each velocity command component.
Definition: CVehicleVelCmd_Holo.cpp:76
mrpt::kinematics::CVehicleVelCmd_Holo::ramp_time
double ramp_time
: Blending time between current and target time.
Definition: CVehicleVelCmd_Holo.h:31
val
int val
Definition: mrpt_jpeglib.h:955
mrpt::kinematics::CVehicleVelCmd_Holo::getVelCmdElement
double getVelCmdElement(const int index) const override
Get each velocity command component.
Definition: CVehicleVelCmd_Holo.cpp:55
mrpt::kinematics::CVehicleVelCmd_Holo::dir_local
double dir_local
: direction, relative to the current robot heading (radians).
Definition: CVehicleVelCmd_Holo.h:29
index
GLuint index
Definition: glext.h:4054
mrpt::kinematics::CVehicleVelCmd_Holo::isStopCmd
bool isStopCmd() const override
Returns true if the command means "do not move" / "stop".
Definition: CVehicleVelCmd_Holo.cpp:97
mrpt::kinematics::CVehicleVelCmd_Holo::cmdVel_limits
double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params) override
Updates this command, computing a blended version of beta (within [0,1]) of vel_cmd and 1-beta of pre...
Definition: CVehicleVelCmd_Holo.cpp:134
DEFINE_SERIALIZABLE
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Definition: CSerializable.h:102
mrpt::kinematics::CVehicleVelCmd_Holo::CVehicleVelCmd_Holo
CVehicleVelCmd_Holo()
Definition: CVehicleVelCmd_Holo.cpp:18
mrpt::kinematics::CVehicleVelCmd_Holo
Kinematic model for.
Definition: CVehicleVelCmd_Holo.h:21
string
GLsizei const GLchar ** string
Definition: glext.h:4101
mrpt::kinematics::CVehicleVelCmd_Holo::rot_speed
double rot_speed
: (rad/s) rotational speed for rotating such as the robot slowly faces forward.
Definition: CVehicleVelCmd_Holo.h:34
mrpt::kinematics::CVehicleVelCmd
Virtual base for velocity commands of different kinematic models of planar mobile robot.
Definition: CVehicleVelCmd.h:22
params
GLenum const GLfloat * params
Definition: glext.h:3534
CVehicleVelCmd.h



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