CPTG_DiffDrive_CS.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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/nav/tpspace/CPTG_DiffDrive_CollisionGridBased.h>

namespace mrpt
{
  namespace nav
  {
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(CPTG_DiffDrive_CS, CParameterizedTrajectoryGenerator, NAV_IMPEXP)

        /** A PTG for optimal paths of type "CS", as named in PTG papers.
         * - **Compatible kinematics**: differential-driven / Ackermann steering
         * - **Compatible robot shape**: Arbitrary 2D polygon
         * - **PTG parameters**: Use the app `ptg-configurator`
         *
         *  See "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And Autom, 1999.
         * \note [Before MRPT 1.5.0 this was named CPTG5]
         *  \ingroup nav_tpspace
         */
        class NAV_IMPEXP  CPTG_DiffDrive_CS : public CPTG_DiffDrive_CollisionGridBased
        {
                DEFINE_SERIALIZABLE(CPTG_DiffDrive_CS)
         public:
                CPTG_DiffDrive_CS() : R(0),K(0) {}
                CPTG_DiffDrive_CS(const mrpt::utils::CConfigFileBase &cfg,const std::string &sSection) {
                        loadFromConfigFile(cfg,sSection);
                }
                virtual void loadFromConfigFile(const mrpt::utils::CConfigFileBase &cfg,const std::string &sSection) MRPT_OVERRIDE;
                virtual void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg,const std::string &sSection) const MRPT_OVERRIDE;

                std::string getDescription() const MRPT_OVERRIDE;
                bool PTG_IsIntoDomain( double x, double y ) const MRPT_OVERRIDE;
                void ptgDiffDriveSteeringFunction( float alpha, float t,float x, float y, float phi, float &v, float &w ) const MRPT_OVERRIDE;
                void loadDefaultParams() MRPT_OVERRIDE;

         protected:
                 double R,K;
        };
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(CPTG_DiffDrive_CS, CParameterizedTrajectoryGenerator, NAV_IMPEXP)

  }
}