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mrpt::kinematics::CVehicleVelCmd_Holo Class Reference

Detailed Description

Kinematic model for.

Definition at line 23 of file CVehicleVelCmd_Holo.h.

#include <mrpt/kinematics/CVehicleVelCmd_Holo.h>

Inheritance diagram for mrpt::kinematics::CVehicleVelCmd_Holo:
Inheritance graph

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CVehicleVelCmd_Holo ()
 
 CVehicleVelCmd_Holo (double vel, double dir_local, double ramp_time, double rot_speed)
 
virtual ~CVehicleVelCmd_Holo ()
 
size_t getVelCmdLength () const MRPT_OVERRIDE
 Get number of components in each velocity command. More...
 
std::string getVelCmdDescription (const int index) const MRPT_OVERRIDE
 Get textual, human-readable description of each velocity command component. More...
 
double getVelCmdElement (const int index) const MRPT_OVERRIDE
 Get each velocity command component. More...
 
void setVelCmdElement (const int index, const double val) MRPT_OVERRIDE
 Set each velocity command component. More...
 
bool isStopCmd () const MRPT_OVERRIDE
 Returns true if the command means "do not move" / "stop". More...
 
void setToStop () MRPT_OVERRIDE
 Set to a command that means "do not move" / "stop". More...
 
void cmdVel_scale (double vel_scale) MRPT_OVERRIDE
 Scale the velocity command encoded in this object. More...
 
double cmdVel_limits (const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params) MRPT_OVERRIDE
 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. More...
 
std::string asString () const
 Returns a human readable description of the cmd. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Public Attributes

double vel
 speed(m / s) More...
 
double dir_local
 : direction, relative to the current robot heading (radians). 0 means forward. More...
 
double ramp_time
 : Blending time between current and target time. More...
 
double rot_speed
 : (rad/s) rotational speed for rotating such as the robot slowly faces forward. More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCVehicleVelCmd
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

RTTI stuff

typedef CVehicleVelCmd_HoloPtr Ptr
 
typedef CVehicleVelCmd_HoloPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CVehicleVelCmd_Holo
 
static mrpt::utils::TRuntimeClassId classCVehicleVelCmd_Holo
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CVehicleVelCmd_HoloPtr Create ()
 

Member Typedef Documentation

typedef CVehicleVelCmd_HoloPtr mrpt::kinematics::CVehicleVelCmd_Holo::ConstPtr

Definition at line 25 of file CVehicleVelCmd_Holo.h.

typedef CVehicleVelCmd_HoloPtr mrpt::kinematics::CVehicleVelCmd_Holo::Ptr

A typedef for the associated smart pointer

Definition at line 25 of file CVehicleVelCmd_Holo.h.

Constructor & Destructor Documentation

CVehicleVelCmd_Holo::CVehicleVelCmd_Holo ( )

Definition at line 19 of file CVehicleVelCmd_Holo.cpp.

CVehicleVelCmd_Holo::CVehicleVelCmd_Holo ( double  vel,
double  dir_local,
double  ramp_time,
double  rot_speed 
)

Definition at line 27 of file CVehicleVelCmd_Holo.cpp.

CVehicleVelCmd_Holo::~CVehicleVelCmd_Holo ( )
virtual

Definition at line 35 of file CVehicleVelCmd_Holo.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_Holo::_GetBaseClass ( )
staticprotected
std::string mrpt::kinematics::CVehicleVelCmd::asString ( ) const
inherited

Returns a human readable description of the cmd.

Definition at line 31 of file CVehicleVelCmd.cpp.

References mrpt::mrpt::format().

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

double CVehicleVelCmd_Holo::cmdVel_limits ( const mrpt::kinematics::CVehicleVelCmd prev_vel_cmd,
const double  beta,
const TVelCmdParams params 
)
virtual

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.

Returns
The [0,1] ratio that the cmdvel had to be scaled down, or 1.0 if none.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 123 of file CVehicleVelCmd_Holo.cpp.

References ASSERTMSG_, mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::robotMax_V_mps, rot_speed, and vel.

void CVehicleVelCmd_Holo::cmdVel_scale ( double  vel_scale)
virtual

Scale the velocity command encoded in this object.

Parameters
[in]vel_scaleA scale within [0,1] reflecting how much should be the raw velocity command be lessen (e.g. for safety reasons,...).
[out]out_vel_cmdUsers can directly inherit from existing implementations instead of manually redefining this method:

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 115 of file CVehicleVelCmd_Holo.cpp.

References vel.

static CVehicleVelCmd_HoloPtr mrpt::kinematics::CVehicleVelCmd_Holo::Create ( )
static
static mrpt::utils::CObject* mrpt::kinematics::CVehicleVelCmd_Holo::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::kinematics::CVehicleVelCmd_Holo::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

virtual const mrpt::utils::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_Holo::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::kinematics::CVehicleVelCmd.

std::string CVehicleVelCmd_Holo::getVelCmdDescription ( const int  index) const
virtual

Get textual, human-readable description of each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 44 of file CVehicleVelCmd_Holo.cpp.

References THROW_EXCEPTION_FMT.

double CVehicleVelCmd_Holo::getVelCmdElement ( const int  index) const
virtual

Get each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 57 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, THROW_EXCEPTION_FMT, and vel.

size_t CVehicleVelCmd_Holo::getVelCmdLength ( ) const
virtual

Get number of components in each velocity command.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 39 of file CVehicleVelCmd_Holo.cpp.

bool CVehicleVelCmd_Holo::isStopCmd ( ) const
virtual

Returns true if the command means "do not move" / "stop".

See Also
setToStop

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 83 of file CVehicleVelCmd_Holo.cpp.

References rot_speed, and vel.

void mrpt::kinematics::CVehicleVelCmd_Holo::operator delete ( void ptr)
throw (
)
inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

void mrpt::kinematics::CVehicleVelCmd_Holo::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

void mrpt::kinematics::CVehicleVelCmd_Holo::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

void mrpt::kinematics::CVehicleVelCmd_Holo::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

void* mrpt::kinematics::CVehicleVelCmd_Holo::operator new ( size_t  size)
inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

static void* mrpt::kinematics::CVehicleVelCmd_Holo::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 25 of file CVehicleVelCmd_Holo.h.

void* mrpt::kinematics::CVehicleVelCmd_Holo::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

void* mrpt::kinematics::CVehicleVelCmd_Holo::operator new[] ( size_t  size)
inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

void CVehicleVelCmd_Holo::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 92 of file CVehicleVelCmd_Holo.cpp.

References dir_local, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, ramp_time, rot_speed, and vel.

void CVehicleVelCmd_Holo::setToStop ( )
virtual

Set to a command that means "do not move" / "stop".

See Also
isStopCmd

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 88 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, and vel.

void CVehicleVelCmd_Holo::setVelCmdElement ( const int  index,
const double  val 
)
virtual

Set each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 70 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, THROW_EXCEPTION_FMT, and vel.

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CVehicleVelCmd_Holo::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 104 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, and vel.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::kinematics::CVehicleVelCmd_Holo::_init_CVehicleVelCmd_Holo
staticprotected

Definition at line 25 of file CVehicleVelCmd_Holo.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd::classCVehicleVelCmd
staticinherited

Definition at line 26 of file CVehicleVelCmd.h.

mrpt::utils::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd_Holo::classCVehicleVelCmd_Holo
static

Definition at line 25 of file CVehicleVelCmd_Holo.h.

const mrpt::utils::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_Holo::classinfo
static

Definition at line 25 of file CVehicleVelCmd_Holo.h.

double mrpt::kinematics::CVehicleVelCmd_Holo::dir_local

: direction, relative to the current robot heading (radians). 0 means forward.

Definition at line 28 of file CVehicleVelCmd_Holo.h.

Referenced by mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), getVelCmdElement(), readFromStream(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().

double mrpt::kinematics::CVehicleVelCmd_Holo::ramp_time
double mrpt::kinematics::CVehicleVelCmd_Holo::rot_speed
double mrpt::kinematics::CVehicleVelCmd_Holo::vel



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