CPTG_DiffDrive_CS.cpp

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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    |
   +---------------------------------------------------------------------------+ */

#include "nav-precomp.h" // Precomp header
#include <mrpt/nav/tpspace/CPTG_DiffDrive_CS.h>
#include <mrpt/system/os.h>

using namespace mrpt;
using namespace mrpt::nav;
using namespace std;
using namespace mrpt::system;
using namespace mrpt::utils;

IMPLEMENTS_SERIALIZABLE(CPTG_DiffDrive_CS,CParameterizedTrajectoryGenerator,mrpt::nav)

void CPTG_DiffDrive_CS::loadFromConfigFile(const mrpt::utils::CConfigFileBase &cfg,const std::string &sSection)
{
        CPTG_DiffDrive_CollisionGridBased ::loadFromConfigFile(cfg,sSection);
        
        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(K,double, cfg,sSection);

        // The constant curvature turning radius used in this PTG:
        R = V_MAX / W_MAX;
}
void CPTG_DiffDrive_CS::saveToConfigFile(mrpt::utils::CConfigFileBase &cfg,const std::string &sSection) const
{
        MRPT_START
        const int WN = 25, WV = 30;
        CPTG_DiffDrive_CollisionGridBased::saveToConfigFile(cfg,sSection);

        cfg.write(sSection,"K",K,   WN,WV, "K=+1 forward paths; K=-1 for backwards paths.");

        MRPT_END
}

void CPTG_DiffDrive_CS::readFromStream(mrpt::utils::CStream &in, int version)
{
        CPTG_DiffDrive_CollisionGridBased::internal_readFromStream(in);

        switch (version)
        {
        case 0:
                in >> K;
                break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

void CPTG_DiffDrive_CS::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version) 
        {
                *version = 0;
                return;
        }

        CPTG_DiffDrive_CollisionGridBased::internal_writeToStream(out);
        out << K;
}
std::string CPTG_DiffDrive_CS::getDescription() const
{
        char str[100];
        os::sprintf(str,100,"CPTG_DiffDrive_CS,K=%i",(int)K);
        return std::string(str);
}

void CPTG_DiffDrive_CS::ptgDiffDriveSteeringFunction( float alpha, float t,float x, float y, float phi, float &v, float &w ) const
{
        MRPT_UNUSED_PARAM(x); MRPT_UNUSED_PARAM(y); MRPT_UNUSED_PARAM(phi);
        const float T = 0.847f*std::sqrt(std::abs(alpha))*R/V_MAX;

        if (t< T)
        {
                // l+
                v = V_MAX;
                w = W_MAX * min( 1.0f , 1.0f - (float)exp( -square(alpha) ));
        }
        else
        {
                // s+:
                v = V_MAX;
                w = 0;
        }

        // Turn in the opposite direction??
        if (alpha<0)
                w*=-1;

        v*=K;
        w*=K;

}

bool CPTG_DiffDrive_CS::PTG_IsIntoDomain( double x, double y ) const
{
        // If signs of K and X are different, it is not into the domain:
        if ((K*x)<0)
                return false;

        if (fabs(y)>=R)
        {
                // Segmento de arriba:
                return (fabs(x)>R-0.10f);
        }
        else
        {
                // The circle at (0,R):
                return (square(x)+square(fabs(y)-(R+0.10f)))>square(R);
        }
}

void CPTG_DiffDrive_CS::loadDefaultParams()
{
        CPTG_DiffDrive_CollisionGridBased::loadDefaultParams();
        K = +1.0;
}