CVehicleVelCmd.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/kinematics/link_pragmas.h>
#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <string>

namespace mrpt
{
        namespace kinematics
        {
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(CVehicleVelCmd, mrpt::utils::CSerializable, KINEMATICS_IMPEXP)

                /** Virtual base for velocity commands of different kinematic models of planar mobile robot.
                 * \ingroup mrpt_kinematics_grp */
                class KINEMATICS_IMPEXP CVehicleVelCmd : public mrpt::utils::CSerializable
                {
                        DEFINE_VIRTUAL_SERIALIZABLE(CVehicleVelCmd)
                public:
                        CVehicleVelCmd();
                        CVehicleVelCmd(const CVehicleVelCmd &other);
                        virtual ~CVehicleVelCmd();
                        CVehicleVelCmd & operator =(const CVehicleVelCmd &other);

                        virtual size_t getVelCmdLength() const = 0;  //!< Get number of components in each velocity command
                        virtual std::string getVelCmdDescription(const int index) const = 0; //!< Get textual, human-readable description of each velocity command component
                        virtual double getVelCmdElement(const int index) const = 0;  //!< Get each velocity command component
                        virtual void setVelCmdElement(const int index, const double val) = 0;  //!< Set each velocity command component
                        virtual bool isStopCmd() const = 0; //!< Returns true if the command means "do not move" / "stop". \sa setToStop
                        virtual void setToStop() = 0; //!< Set to a command that means "do not move" / "stop". \sa isStopCmd
                        std::string asString() const; //!< Returns a human readable description of the cmd

                        /** Parameters that may be used by cmdVel_limits() in any derived classes. */
                        struct KINEMATICS_IMPEXP TVelCmdParams
                        {
                                double  robotMax_V_mps;       //!< Max. linear speed (m/s) [Default=-1 (not set), will raise exception if needed and not set]
                                double  robotMax_W_radps;     //!< Max. angular speed (rad/s) [Default=-1 (not set), will raise exception if needed and not set]
                                double  robotMinCurvRadius;   //!< Min. radius of curvature of paths (m) [Default=-1 (not set), will raise exception if needed and not set]

                                TVelCmdParams();
                                /** Load any parameter required by a CVehicleVelCmd derived class. */
                                void loadConfigFile(const mrpt::utils::CConfigFileBase &cfg, const std::string &section);
                                void saveToConfigFile(mrpt::utils::CConfigFileBase & c, const std::string & s) const;
                        };

                        /** Scale the velocity command encoded in this object.
                        * \param[in] vel_scale A scale within [0,1] reflecting how much should be the raw velocity command be lessen (e.g. for safety reasons,...).
                        * \param[out] out_vel_cmd
                        *
                        * Users can directly inherit from existing implementations instead of manually redefining this method:
                        *  - mrpt::kinematics::CVehicleVelCmd_DiffDriven 
                        *  - mrpt::kinematics::CVehicleVelCmd_Holo
                        */
                        virtual void cmdVel_scale(double vel_scale) = 0;

                        /** Updates this command, computing a blended version of `beta` (within [0,1]) of `vel_cmd` and `1-beta` of `prev_vel_cmd`, simultaneously
                        * to honoring any user-side maximum velocities.
                        * \return The [0,1] ratio that the cmdvel had to be scaled down, or 1.0 if none.
                        */
                        virtual double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params) = 0;
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(CVehicleVelCmd, mrpt::utils::CSerializable, KINEMATICS_IMPEXP)


        } // End of namespace
} // End of namespace