CVehicleVelCmd_DiffDriven.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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_DiffDriven, CVehicleVelCmd, KINEMATICS_IMPEXP)

        /** Kinematic model for Ackermann-like or differential-driven vehicles.
         *
         * \ingroup mrpt_kinematics_grp
         */
        class KINEMATICS_IMPEXP CVehicleVelCmd_DiffDriven : public CVehicleVelCmd
        {
                DEFINE_SERIALIZABLE(CVehicleVelCmd_DiffDriven)
        public:
                double lin_vel; //!< Linear velocity (m/s)
                double ang_vel; //!< Angular velocity (rad/s)

                CVehicleVelCmd_DiffDriven();
                virtual ~CVehicleVelCmd_DiffDriven();
                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 docs of method in base class. The implementation for differential-driven robots of this method
                * just multiplies all the components of vel_cmd times vel_scale, which is appropriate
                *  for differential-driven kinematic models (v,w).
                */
                void cmdVel_scale(double vel_scale) MRPT_OVERRIDE;

                /** See base class docs.
                 * Tecognizes these parameters: `robotMax_V_mps`, `robotMax_W_degps` */
                double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params)  MRPT_OVERRIDE;

        private:
                double filter_max_vw(double &v, double &w, const TVelCmdParams &p);
        };
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(CVehicleVelCmd_DiffDriven, CVehicleVelCmd, KINEMATICS_IMPEXP)

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