37 const std::string& sSection)
override;
40 const std::string& sSection)
const override;
45 float alpha,
float t,
float x,
float y,
float phi,
float& v,
46 float& w)
const override;
void loadDefaultParams() override
Loads a set of default parameters; provided exclusively for the PTG-configurator tool.
bool PTG_IsIntoDomain(double x, double y) const override
Returns the same than inverseMap_WS2TP() but without any additional cost.
This class allows loading and storing values and vectors of different types from a configuration text...
std::string getDescription() const override
Gets a short textual description of the PTG and its parameters.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override
Parameters accepted by this base class:
void saveToConfigFile(mrpt::config::CConfigFileBase &cfg, const std::string &sSection) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
Base class for all PTGs suitable to non-holonomic, differentially-driven (or Ackermann) vehicles base...
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A PTG for optimal paths of type "C|C,S" (as named in PTG papers).
void ptgDiffDriveSteeringFunction(float alpha, float t, float x, float y, float phi, float &v, float &w) const override
The main method to be implemented in derived classes: it defines the differential-driven differential...
CPTG_DiffDrive_CCS()=default
CPTG_DiffDrive_CCS(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection)