CPTG_DiffDrive_alpha.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "nav-precomp.h"  // Precomp header

#include <mrpt/nav/tpspace/CPTG_DiffDrive_alpha.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/os.h>

using namespace mrpt;
using namespace mrpt::nav;
using namespace mrpt::system;

IMPLEMENTS_SERIALIZABLE(
    CPTG_DiffDrive_alpha, CParameterizedTrajectoryGenerator, mrpt::nav)

void CPTG_DiffDrive_alpha::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& cfg, const std::string& sSection)
{
    CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile(cfg, sSection);

    MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT(
        cte_a0v_deg, double, cte_a0v, cfg, sSection);
    MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT(
        cte_a0w_deg, double, cte_a0w, cfg, sSection);
}
void CPTG_DiffDrive_alpha::saveToConfigFile(
    mrpt::config::CConfigFileBase& cfg, const std::string& sSection) const
{
    MRPT_START
    const int WN = 25, WV = 30;
    CPTG_DiffDrive_CollisionGridBased::saveToConfigFile(cfg, sSection);

    cfg.write(
        sSection, "cte_a0v_deg", mrpt::RAD2DEG(cte_a0v), WN, WV,
        "Contant for vel profile [deg].");
    cfg.write(
        sSection, "cte_a0w_deg", mrpt::RAD2DEG(cte_a0v), WN, WV,
        "Contant for omega profile [deg].");

    MRPT_END
}

std::string CPTG_DiffDrive_alpha::getDescription() const
{
    char str[100];
    os::sprintf(
        str, 100, "CPTG_DiffDrive_alpha,av=%udeg,aw=%udeg",
        (int)RAD2DEG(cte_a0v), (int)RAD2DEG(cte_a0w));
    return std::string(str);
}

void CPTG_DiffDrive_alpha::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    CPTG_DiffDrive_CollisionGridBased::internal_readFromStream(in);

    switch (version)
    {
        case 0:
            in >> cte_a0v >> cte_a0w;
            break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

uint8_t CPTG_DiffDrive_alpha::serializeGetVersion() const { return 0; }
void CPTG_DiffDrive_alpha::serializeTo(mrpt::serialization::CArchive& out) const
{
    CPTG_DiffDrive_CollisionGridBased::internal_writeToStream(out);
    out << cte_a0v << cte_a0w;
}
/*---------------------------------------------------------------
                        ptgDiffDriveSteeringFunction
  ---------------------------------------------------------------*/
void CPTG_DiffDrive_alpha::ptgDiffDriveSteeringFunction(
    float alpha, [[maybe_unused]] float t, [[maybe_unused]] float x,
    [[maybe_unused]] float y, float phi, float& v, float& w) const
{
    float At_a = alpha - phi;

    while (At_a > M_PI) At_a -= (float)M_2PI;
    while (At_a < -M_PI) At_a += (float)M_2PI;

    v = V_MAX * exp(-square(At_a / cte_a0v));
    w = W_MAX * (-0.5f + (1 / (1 + exp(-At_a / cte_a0w))));
}

void CPTG_DiffDrive_alpha::loadDefaultParams()
{
    CPTG_DiffDrive_CollisionGridBased::loadDefaultParams();

    cte_a0v = mrpt::DEG2RAD(45.0);
    cte_a0w = mrpt::DEG2RAD(45.0);
}