CPTG_Holo_Blend.cpp File Reference

#include "nav-precomp.h"
#include <mrpt/nav/tpspace/CPTG_Holo_Blend.h>
#include <mrpt/utils/types_math.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/utils/round.h>
#include <mrpt/utils/CTimeLogger.h>
#include <mrpt/math/poly_roots.h>
#include <mrpt/kinematics/CVehicleVelCmd_Holo.h>

Include dependency graph for CPTG_Holo_Blend.cpp:

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Macros
#define	PERFORMANCE_BENCHMARK
#define	COMMON_PTG_DESIGN_PARAMS

Functions
static double	calc_trans_distance_t_below_Tramp_abc_numeric (double T, double a, double b, double c)

Macro Definition Documentation

COMMON_PTG_DESIGN_PARAMS

#define COMMON_PTG_DESIGN_PARAMS

Value:

const double vxi = m_nav_dyn_state.curVelLocal.vx, vyi = m_nav_dyn_state.curVelLocal.vy; \
        const double vf_mod = internal_get_v(dir); \
        const double vxf = vf_mod*cos(dir), vyf = vf_mod* sin(dir); \
        const double T_ramp = internal_get_T_ramp(dir);

Definition at line 52 of file CPTG_Holo_Blend.cpp.

Referenced by mrpt::nav::CPTG_Holo_Blend::getPathDist(), mrpt::nav::CPTG_Holo_Blend::getPathPose(), mrpt::nav::CPTG_Holo_Blend::getPathStepForDist(), and mrpt::nav::CPTG_Holo_Blend::updateTPObstacleSingle().

PERFORMANCE_BENCHMARK

#define PERFORMANCE_BENCHMARK

Definition at line 45 of file CPTG_Holo_Blend.cpp.

Referenced by calc_trans_distance_t_below_Tramp_abc_numeric(), mrpt::nav::CPTG_Holo_Blend::getPathStepForDist(), mrpt::nav::CPTG_Holo_Blend::inverseMap_WS2TP(), and mrpt::nav::CPTG_Holo_Blend::updateTPObstacle().

Function Documentation

calc_trans_distance_t_below_Tramp_abc_numeric()

static double calc_trans_distance_t_below_Tramp_abc_numeric ( double  T, double  a, double  b, double  c  )

static

Definition at line 94 of file CPTG_Holo_Blend.cpp.

References ASSERT_, and PERFORMANCE_BENCHMARK.

Referenced by mrpt::nav::CPTG_Holo_Blend::calc_trans_distance_t_below_Tramp_abc().