Detailed Description

Kinematic model for Ackermann-like or differential-driven vehicles.

Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.

#include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>

Inheritance diagram for mrpt::kinematics::CVehicleVelCmd_DiffDriven:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	CVehicleVelCmd_DiffDriven ()

virtual	~CVehicleVelCmd_DiffDriven ()

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
	See docs of method in base class. More...

double	cmdVel_limits (const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params) MRPT_OVERRIDE
	See base class docs. More...

std::string	asString () const
	Returns a human readable description of the cmd. More...

virtual mxArray *	writeToMatlab () 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...

CObject *	clone () const
	Cloning interface for smart pointers. More...

RTTI classes and functions
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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
double	lin_vel
	Linear velocity (m/s) More...

double	ang_vel
	Angular velocity (rad/s) 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...

Private Member Functions
double	filter_max_vw (double &v, double &w, const TVelCmdParams &p)

RTTI stuff
typedef CVehicleVelCmd_DiffDrivenPtr	Ptr

typedef CVehicleVelCmd_DiffDrivenPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CVehicleVelCmd_DiffDriven

static mrpt::utils::TRuntimeClassId	classCVehicleVelCmd_DiffDriven

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::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CVehicleVelCmd_DiffDrivenPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CVehicleVelCmd_DiffDrivenPtr mrpt::kinematics::CVehicleVelCmd_DiffDriven::ConstPtr

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ Ptr

typedef CVehicleVelCmd_DiffDrivenPtr mrpt::kinematics::CVehicleVelCmd_DiffDriven::Ptr

A typedef for the associated smart pointer

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

Constructor & Destructor Documentation

◆ CVehicleVelCmd_DiffDriven()

CVehicleVelCmd_DiffDriven::CVehicleVelCmd_DiffDriven ( )

Definition at line 19 of file CVehicleVelCmd_DiffDriven.cpp.

◆ ~CVehicleVelCmd_DiffDriven()

CVehicleVelCmd_DiffDriven::~CVehicleVelCmd_DiffDriven ( )

virtual

Definition at line 24 of file CVehicleVelCmd_DiffDriven.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_DiffDriven::_GetBaseClass ( )

staticprotected

◆ asString()

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().

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ cmdVel_limits()

double CVehicleVelCmd_DiffDriven::cmdVel_limits	(	const mrpt::kinematics::CVehicleVelCmd &	prev_vel_cmd,
		const double	beta,
		const TVelCmdParams &	params
	)

virtual

See base class docs.

Tecognizes these parameters: robotMax_V_mps, robotMax_W_degps

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 103 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, ASSERT_, ASSERTMSG_, and lin_vel.

◆ cmdVel_scale()

void CVehicleVelCmd_DiffDriven::cmdVel_scale ( double vel_scale )

virtual

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).

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 97 of file CVehicleVelCmd_DiffDriven.cpp.

◆ Create()

static CVehicleVelCmd_DiffDrivenPtr mrpt::kinematics::CVehicleVelCmd_DiffDriven::Create ( )

static

Referenced by mrpt::nav::CNavigatorManualSequence::loadConfigFile().

◆ CreateObject()

static mrpt::utils::CObject* mrpt::kinematics::CVehicleVelCmd_DiffDriven::CreateObject ( )

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::kinematics::CVehicleVelCmd_DiffDriven::duplicate ( ) const

virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

◆ filter_max_vw()

double CVehicleVelCmd_DiffDriven::filter_max_vw	(	double &	v,
		double &	w,
		const TVelCmdParams &	p
	)

private

Definition at line 129 of file CVehicleVelCmd_DiffDriven.cpp.

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::kinematics::CVehicleVelCmd.

◆ getVelCmdDescription()

std::string CVehicleVelCmd_DiffDriven::getVelCmdDescription ( const int index ) const

virtual

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

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 32 of file CVehicleVelCmd_DiffDriven.cpp.

References THROW_EXCEPTION_FMT.

◆ getVelCmdElement()

double CVehicleVelCmd_DiffDriven::getVelCmdElement ( const int index ) const

virtual

Get each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 43 of file CVehicleVelCmd_DiffDriven.cpp.

References THROW_EXCEPTION_FMT.

◆ getVelCmdLength()

size_t CVehicleVelCmd_DiffDriven::getVelCmdLength ( ) const

virtual

Get number of components in each velocity command.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 27 of file CVehicleVelCmd_DiffDriven.cpp.

◆ isStopCmd()

bool CVehicleVelCmd_DiffDriven::isStopCmd ( ) const

virtual

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

See also: setToStop

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 65 of file CVehicleVelCmd_DiffDriven.cpp.

◆ operator delete() [1/3]

void mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ operator delete() [2/3]

void mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ operator delete() [3/3]

void mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ operator delete[]()

void mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ operator new() [1/3]

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

inline

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ operator new() [2/3]

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

inlinestatic

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ operator new() [3/3]

void* mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator new ( size_t size )

inline

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ operator new[]()

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

inline

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ readFromStream()

void CVehicleVelCmd_DiffDriven::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

in	The input binary stream where the object data must read from.
version	The 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::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 75 of file CVehicleVelCmd_DiffDriven.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ setToStop()

void CVehicleVelCmd_DiffDriven::setToStop ( )

virtual

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

See also: isStopCmd

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 70 of file CVehicleVelCmd_DiffDriven.cpp.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::stop().

◆ setVelCmdElement()

void CVehicleVelCmd_DiffDriven::setVelCmdElement	(	const int	index,
		const double	val
	)

virtual

Set each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 54 of file CVehicleVelCmd_DiffDriven.cpp.

References THROW_EXCEPTION_FMT, and val.

◆ writeToMatlab()

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.

◆ writeToStream()

void CVehicleVelCmd_DiffDriven::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

out	The output binary stream where object must be dumped.
getVersion	If 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::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 87 of file CVehicleVelCmd_DiffDriven.cpp.

References version.

Member Data Documentation

◆ _init_CVehicleVelCmd_DiffDriven

mrpt::utils::CLASSINIT mrpt::kinematics::CVehicleVelCmd_DiffDriven::_init_CVehicleVelCmd_DiffDriven

staticprotected

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ ang_vel

double mrpt::kinematics::CVehicleVelCmd_DiffDriven::ang_vel

Angular velocity (rad/s)

Definition at line 28 of file CVehicleVelCmd_DiffDriven.h.

Referenced by cmdVel_limits(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(), and mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd().

◆ classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

◆ classCSerializable

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

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classCVehicleVelCmd

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

staticinherited

Definition at line 26 of file CVehicleVelCmd.h.

◆ classCVehicleVelCmd_DiffDriven

mrpt::utils::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd_DiffDriven::classCVehicleVelCmd_DiffDriven

static

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_DiffDriven::classinfo

static

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

◆ lin_vel

double mrpt::kinematics::CVehicleVelCmd_DiffDriven::lin_vel

Linear velocity (m/s)

Definition at line 27 of file CVehicleVelCmd_DiffDriven.h.

Referenced by cmdVel_limits(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(), and mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd().

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Private Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CVehicleVelCmd_DiffDriven()

◆ ~CVehicleVelCmd_DiffDriven()

Member Function Documentation

◆ _GetBaseClass()

◆ asString()

◆ clone()

◆ cmdVel_limits()

◆ cmdVel_scale()

◆ Create()

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ filter_max_vw()

◆ GetRuntimeClass()

◆ getVelCmdDescription()

◆ getVelCmdElement()

◆ getVelCmdLength()

◆ isStopCmd()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ setToStop()

◆ setVelCmdElement()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CVehicleVelCmd_DiffDriven

◆ ang_vel

◆ classCObject

◆ classCSerializable

◆ classCVehicleVelCmd

◆ classCVehicleVelCmd_DiffDriven

◆ classinfo

◆ lin_vel