Detailed Description

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

Definition at line 19 of file CVehicleVelCmd_DiffDriven.h.

#include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>

Inheritance diagram for mrpt::kinematics::CVehicleVelCmd_DiffDriven:

Public Member Functions
	~CVehicleVelCmd_DiffDriven () override

size_t	getVelCmdLength () const override
	Get number of components in each velocity command. More...

std::string	getVelCmdDescription (const int index) const override
	Get textual, human-readable description of each velocity command component. More...

double	getVelCmdElement (const int index) const override
	Get each velocity command component. More...

void	setVelCmdElement (const int index, const double val) override
	Set each velocity command component. More...

bool	isStopCmd () const override
	Returns true if the command means "do not move" / "stop". More...

void	setToStop () override
	Set to a command that means "do not move" / "stop". More...

void	cmdVel_scale (double vel_scale) 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) 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...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
double	lin_vel {.0}
	Linear velocity (m/s) More...

double	ang_vel {.0}
	Angular velocity (rad/s) More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

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

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::kinematics ::CVehicleVelCmd_DiffDriven >

using	ConstPtr = std::shared_ptr< const mrpt::kinematics ::CVehicleVelCmd_DiffDriven >

using	UniquePtr = std::unique_ptr< mrpt::kinematics ::CVehicleVelCmd_DiffDriven >

using	ConstUniquePtr = std::unique_ptr< const mrpt::kinematics ::CVehicleVelCmd_DiffDriven >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::kinematics" "::" "CVehicleVelCmd_DiffDriven"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::kinematics::CVehicleVelCmd_DiffDriven::ConstPtr = std::shared_ptr<const mrpt::kinematics :: CVehicleVelCmd_DiffDriven >

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ ConstUniquePtr

using mrpt::kinematics::CVehicleVelCmd_DiffDriven::ConstUniquePtr = std::unique_ptr<const mrpt::kinematics :: CVehicleVelCmd_DiffDriven >

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ Ptr

using mrpt::kinematics::CVehicleVelCmd_DiffDriven::Ptr = std::shared_ptr< mrpt::kinematics :: CVehicleVelCmd_DiffDriven >

A type for the associated smart pointer

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ UniquePtr

using mrpt::kinematics::CVehicleVelCmd_DiffDriven::UniquePtr = std::unique_ptr< mrpt::kinematics :: CVehicleVelCmd_DiffDriven >

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

Constructor & Destructor Documentation

◆ ~CVehicleVelCmd_DiffDriven()

mrpt::kinematics::CVehicleVelCmd_DiffDriven::~CVehicleVelCmd_DiffDriven ( )

override

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::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 22 of file CVehicleVelCmd.cpp.

References mrpt::format().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::kinematics::CVehicleVelCmd_DiffDriven::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ cmdVel_limits()

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

overridevirtual

See base class docs.

Tecognizes these parameters: robotMax_V_mps, robotMax_W_degps

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 101 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, ASSERT_, ASSERTMSG_, filter_max_vw(), lin_vel, and params.

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◆ cmdVel_scale()

void CVehicleVelCmd_DiffDriven::cmdVel_scale ( double vel_scale )

overridevirtual

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 95 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, and lin_vel.

◆ Create()

template<typename... Args>

static Ptr mrpt::kinematics::CVehicleVelCmd_DiffDriven::Create ( Args &&... args )

inlinestatic

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::kinematics::CVehicleVelCmd_DiffDriven::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::kinematics::CVehicleVelCmd_DiffDriven::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::kinematics::CVehicleVelCmd_DiffDriven::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ filter_max_vw()

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

private

Definition at line 134 of file CVehicleVelCmd_DiffDriven.cpp.

References mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::robotMax_V_mps, and mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::robotMax_W_radps.

Referenced by cmdVel_limits().

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◆ getClassName()

static constexpr auto mrpt::kinematics::CVehicleVelCmd_DiffDriven::getClassName ( )

inlinestatic

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::kinematics::CVehicleVelCmd.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::kinematics::CVehicleVelCmd_DiffDriven::GetRuntimeClassIdStatic ( )

static

◆ getVelCmdDescription()

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

overridevirtual

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

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 22 of file CVehicleVelCmd_DiffDriven.cpp.

References THROW_EXCEPTION_FMT.

◆ getVelCmdElement()

double CVehicleVelCmd_DiffDriven::getVelCmdElement ( const int index ) const

overridevirtual

Get each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 38 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, lin_vel, and THROW_EXCEPTION_FMT.

◆ getVelCmdLength()

size_t mrpt::kinematics::CVehicleVelCmd_DiffDriven::getVelCmdLength ( ) const

overridevirtual

Get number of components in each velocity command.

Implements mrpt::kinematics::CVehicleVelCmd.

◆ isStopCmd()

bool CVehicleVelCmd_DiffDriven::isStopCmd ( ) const

overridevirtual

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

See also: setToStop

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 69 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, and lin_vel.

◆ serializeFrom() [1/2]

void CVehicleVelCmd_DiffDriven::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 75 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, lin_vel, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CVehicleVelCmd_DiffDriven::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 88 of file CVehicleVelCmd_DiffDriven.cpp.

◆ serializeTo() [1/2]

void CVehicleVelCmd_DiffDriven::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 89 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, lin_vel, and out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setToStop()

void CVehicleVelCmd_DiffDriven::setToStop ( )

overridevirtual

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

See also: isStopCmd

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 74 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, and lin_vel.

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

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◆ setVelCmdElement()

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

overridevirtual

Set each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 53 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, lin_vel, THROW_EXCEPTION_FMT, and val.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ ang_vel

double mrpt::kinematics::CVehicleVelCmd_DiffDriven::ang_vel {.0}

Angular velocity (rad/s)

Definition at line 26 of file CVehicleVelCmd_DiffDriven.h.

Referenced by cmdVel_limits(), cmdVel_scale(), getVelCmdElement(), isStopCmd(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

◆ className

constexpr const char* mrpt::kinematics::CVehicleVelCmd_DiffDriven::className = "mrpt::kinematics" "::" "CVehicleVelCmd_DiffDriven"

static

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ lin_vel

double mrpt::kinematics::CVehicleVelCmd_DiffDriven::lin_vel {.0}

Linear velocity (m/s)

Definition at line 24 of file CVehicleVelCmd_DiffDriven.h.

Referenced by cmdVel_limits(), cmdVel_scale(), getVelCmdElement(), isStopCmd(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd_DiffDriven::runtimeClassId

staticprotected

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ ~CVehicleVelCmd_DiffDriven()

Member Function Documentation

◆ _GetBaseClass()

◆ asString()

◆ clone()

◆ cmdVel_limits()

◆ cmdVel_scale()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ filter_max_vw()

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getVelCmdDescription()

◆ getVelCmdElement()

◆ getVelCmdLength()

◆ isStopCmd()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setToStop()

◆ setVelCmdElement()

◆ writeToMatlab()

Member Data Documentation

◆ ang_vel

◆ className

◆ lin_vel

◆ runtimeClassId