Detailed Description

Kinematic model for.

Definition at line 23 of file CVehicleVelCmd_Holo.h.

#include <mrpt/kinematics/CVehicleVelCmd_Holo.h>

Inheritance diagram for mrpt::kinematics::CVehicleVelCmd_Holo:

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_Holo ()

	CVehicleVelCmd_Holo (double vel, double dir_local, double ramp_time, double rot_speed)

virtual	~CVehicleVelCmd_Holo ()

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
	Scale the velocity command encoded in this object. More...

double	cmdVel_limits (const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params) MRPT_OVERRIDE
	Updates this command, computing a blended version of `beta` (within [0,1]) of `vel_cmd` and `1-beta` of `prev_vel_cmd`, simultaneously to honoring any user-side maximum velocities. 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	vel
	speed(m / s) More...

double	dir_local
	: direction, relative to the current robot heading (radians). 0 means forward. More...

double	ramp_time
	: Blending time between current and target time. More...

double	rot_speed
	: (rad/s) rotational speed for rotating such as the robot slowly faces forward. 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...

RTTI stuff
typedef CVehicleVelCmd_HoloPtr	Ptr

typedef CVehicleVelCmd_HoloPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CVehicleVelCmd_Holo

static mrpt::utils::TRuntimeClassId	classCVehicleVelCmd_Holo

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_HoloPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CVehicleVelCmd_HoloPtr mrpt::kinematics::CVehicleVelCmd_Holo::ConstPtr

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ Ptr

typedef CVehicleVelCmd_HoloPtr mrpt::kinematics::CVehicleVelCmd_Holo::Ptr

A typedef for the associated smart pointer

Definition at line 25 of file CVehicleVelCmd_Holo.h.

Constructor & Destructor Documentation

◆ CVehicleVelCmd_Holo() [1/2]

CVehicleVelCmd_Holo::CVehicleVelCmd_Holo ( )

Definition at line 19 of file CVehicleVelCmd_Holo.cpp.

◆ CVehicleVelCmd_Holo() [2/2]

CVehicleVelCmd_Holo::CVehicleVelCmd_Holo	(	double	vel,
		double	dir_local,
		double	ramp_time,
		double	rot_speed
	)

Definition at line 27 of file CVehicleVelCmd_Holo.cpp.

◆ ~CVehicleVelCmd_Holo()

CVehicleVelCmd_Holo::~CVehicleVelCmd_Holo ( )

virtual

Definition at line 35 of file CVehicleVelCmd_Holo.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_Holo::_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_Holo::cmdVel_limits	(	const mrpt::kinematics::CVehicleVelCmd &	prev_vel_cmd,
		const double	beta,
		const TVelCmdParams &	params
	)

virtual

Updates this command, computing a blended version of beta (within [0,1]) of vel_cmd and 1-beta of prev_vel_cmd, simultaneously to honoring any user-side maximum velocities.

Returns: The [0,1] ratio that the cmdvel had to be scaled down, or 1.0 if none.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 123 of file CVehicleVelCmd_Holo.cpp.

References ASSERTMSG_, rot_speed, and vel.

◆ cmdVel_scale()

void CVehicleVelCmd_Holo::cmdVel_scale ( double vel_scale )

virtual

Scale the velocity command encoded in this object.

Parameters

[in]	vel_scale	A scale within [0,1] reflecting how much should be the raw velocity command be lessen (e.g. for safety reasons,...).
[out]	out_vel_cmd	Users can directly inherit from existing implementations instead of manually redefining this method: mrpt::kinematics::CVehicleVelCmd_DiffDriven mrpt::kinematics::CVehicleVelCmd_Holo

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 115 of file CVehicleVelCmd_Holo.cpp.

References vel.

◆ Create()

static CVehicleVelCmd_HoloPtr mrpt::kinematics::CVehicleVelCmd_Holo::Create ( )

static

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

◆ CreateObject()

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

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::kinematics::CVehicleVelCmd_Holo::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().

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::kinematics::CVehicleVelCmd.

◆ getVelCmdDescription()

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

virtual

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

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 44 of file CVehicleVelCmd_Holo.cpp.

References THROW_EXCEPTION_FMT.

◆ getVelCmdElement()

double CVehicleVelCmd_Holo::getVelCmdElement ( const int index ) const

virtual

Get each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 57 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, THROW_EXCEPTION_FMT, and vel.

◆ getVelCmdLength()

size_t CVehicleVelCmd_Holo::getVelCmdLength ( ) const

virtual

Get number of components in each velocity command.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 39 of file CVehicleVelCmd_Holo.cpp.

◆ isStopCmd()

bool CVehicleVelCmd_Holo::isStopCmd ( ) const

virtual

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

See also: setToStop

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 83 of file CVehicleVelCmd_Holo.cpp.

References rot_speed, and vel.

◆ operator delete() [1/3]

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

inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ operator delete() [2/3]

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

inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ operator delete() [3/3]

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

inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ operator delete[]()

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

inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ operator new() [1/3]

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

inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ operator new() [2/3]

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

inlinestatic

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ operator new() [3/3]

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

inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ operator new[]()

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

inline

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ readFromStream()

void CVehicleVelCmd_Holo::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 92 of file CVehicleVelCmd_Holo.cpp.

References dir_local, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, ramp_time, rot_speed, vel, and version.

◆ setToStop()

void CVehicleVelCmd_Holo::setToStop ( )

virtual

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

See also: isStopCmd

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 88 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, and vel.

◆ setVelCmdElement()

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

virtual

Set each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 70 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, THROW_EXCEPTION_FMT, val, and vel.

◆ 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_Holo::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 104 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, vel, and version.

Member Data Documentation

◆ _init_CVehicleVelCmd_Holo

mrpt::utils::CLASSINIT mrpt::kinematics::CVehicleVelCmd_Holo::_init_CVehicleVelCmd_Holo

staticprotected

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ 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_Holo

mrpt::utils::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd_Holo::classCVehicleVelCmd_Holo

static

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ classinfo

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

static

Definition at line 25 of file CVehicleVelCmd_Holo.h.

◆ dir_local

double mrpt::kinematics::CVehicleVelCmd_Holo::dir_local

: direction, relative to the current robot heading (radians). 0 means forward.

Definition at line 28 of file CVehicleVelCmd_Holo.h.

Referenced by mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), getVelCmdElement(), readFromStream(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().

◆ ramp_time

double mrpt::kinematics::CVehicleVelCmd_Holo::ramp_time

: Blending time between current and target time.

Definition at line 29 of file CVehicleVelCmd_Holo.h.

Referenced by mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), getVelCmdElement(), readFromStream(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().

◆ rot_speed

double mrpt::kinematics::CVehicleVelCmd_Holo::rot_speed

: (rad/s) rotational speed for rotating such as the robot slowly faces forward.

Definition at line 30 of file CVehicleVelCmd_Holo.h.

Referenced by cmdVel_limits(), mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), getVelCmdElement(), isStopCmd(), readFromStream(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().

◆ vel

double mrpt::kinematics::CVehicleVelCmd_Holo::vel

speed(m / s)

Definition at line 27 of file CVehicleVelCmd_Holo.h.

Referenced by cmdVel_limits(), cmdVel_scale(), mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), getVelCmdElement(), isStopCmd(), readFromStream(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CVehicleVelCmd_Holo() [1/2]

◆ CVehicleVelCmd_Holo() [2/2]

◆ ~CVehicleVelCmd_Holo()

Member Function Documentation

◆ _GetBaseClass()

◆ asString()

◆ clone()

◆ cmdVel_limits()

◆ cmdVel_scale()

◆ Create()

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ 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_Holo

◆ classCObject

◆ classCSerializable

◆ classCVehicleVelCmd

◆ classCVehicleVelCmd_Holo

◆ classinfo

◆ dir_local

◆ ramp_time

◆ rot_speed

◆ vel