CVehicleVelCmd_Holo.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/CVehicleVelCmd.h>

namespace mrpt
{
        namespace kinematics
        {
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(CVehicleVelCmd_Holo, CVehicleVelCmd, KINEMATICS_IMPEXP)
                
                /** Kinematic model for
                *
                * \ingroup mrpt_kinematics_grp
                */
                class KINEMATICS_IMPEXP CVehicleVelCmd_Holo : public CVehicleVelCmd
                {
                        DEFINE_SERIALIZABLE(CVehicleVelCmd_Holo)
                public:
                        double vel;       //!< speed(m / s)
                        double dir_local; //!<: direction, **relative** to the current robot heading (radians). 0 means forward.
                        double ramp_time; //!<: Blending time between current and target time.
                        double rot_speed; //!<: (rad/s) rotational speed for rotating such as the robot slowly faces forward.

                        CVehicleVelCmd_Holo();
                        CVehicleVelCmd_Holo(double vel, double dir_local, double ramp_time, double rot_speed);
                        virtual ~CVehicleVelCmd_Holo();
                        size_t getVelCmdLength() const MRPT_OVERRIDE;
                        std::string getVelCmdDescription(const int index) const MRPT_OVERRIDE;
                        double getVelCmdElement(const int index) const  MRPT_OVERRIDE;
                        void setVelCmdElement(const int index, const double val)  MRPT_OVERRIDE;
                        bool isStopCmd() const MRPT_OVERRIDE;
                        void setToStop() MRPT_OVERRIDE;

                        // See base class docs.
                        void cmdVel_scale(double vel_scale) MRPT_OVERRIDE;
                        double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params)  MRPT_OVERRIDE;
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(CVehicleVelCmd_Holo, CVehicleVelCmd, KINEMATICS_IMPEXP)

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