CPTG_DiffDrive_alpha.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_alpha, CParameterizedTrajectoryGenerator, NAV_IMPEXP)

        /** The "a(symptotic)-alpha PTG", as named in PTG papers.
         * - **Compatible kinematics**: differential-driven / Ackermann steering
         * - **Compatible robot shape**: Arbitrary 2D polygon
         * - **PTG parameters**: Use the app `ptg-configurator`
         * 
         * This PT generator functions are: 
         *
         * \f[ v(\alpha) = V_{MAX} e^{ -\left( \dfrac{\alpha-\phi}{cte_{a0v}} \right)^2} \f]
         * \f[ \omega(\alpha) = W_{MAX} \left( -\dfrac{1}{2} +\dfrac{1}{1+ e^{ - \dfrac{\alpha-\phi}{cte_{a0w}} } } \right) \f]
         *
         * So, the radius of curvature of each trajectory is NOT constant for each "alpha" value in this PTG:
         *
         *  ![C-PTG path examples](PTG2_paths.png)
         *
         * \note [Before MRPT 1.5.0 this was named CPTG2]
         *  \ingroup nav_tpspace
         */
        class NAV_IMPEXP  CPTG_DiffDrive_alpha : public CPTG_DiffDrive_CollisionGridBased
        {
                DEFINE_SERIALIZABLE(CPTG_DiffDrive_alpha)
         public:
                CPTG_DiffDrive_alpha() : cte_a0v(0),cte_a0w(0) { }
                CPTG_DiffDrive_alpha(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;
                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 cte_a0v, cte_a0w;
        };
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(CPTG_DiffDrive_alpha, CParameterizedTrajectoryGenerator, NAV_IMPEXP)

  }
}