CVehicleVelCmd.h

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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          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/serialization/CSerializable.h>
#include <string>

namespace mrpt::kinematics
{
/** Virtual base for velocity commands of different kinematic models of planar
 * mobile robot.
 * \ingroup mrpt_kinematics_grp */
class CVehicleVelCmd : public mrpt::serialization::CSerializable
{
    DEFINE_VIRTUAL_SERIALIZABLE(CVehicleVelCmd)
   public:
    CVehicleVelCmd();
    CVehicleVelCmd(const CVehicleVelCmd& other);
    ~CVehicleVelCmd() override;
    CVehicleVelCmd& operator=(const CVehicleVelCmd& other);

    /** Get number of components in each velocity command */
    virtual size_t getVelCmdLength() const = 0;
    /** Get textual, human-readable description of each velocity command
     * component */
    virtual std::string getVelCmdDescription(const int index) const = 0;
    /** Get each velocity command component */
    virtual double getVelCmdElement(const int index) const = 0;
    /** Set each velocity command component */
    virtual void setVelCmdElement(const int index, const double val) = 0;
    /** Returns true if the command means "do not move" / "stop". \sa setToStop
     */
    virtual bool isStopCmd() const = 0;
    /** Set to a command that means "do not move" / "stop". \sa isStopCmd */
    virtual void setToStop() = 0;
    /** Returns a human readable description of the cmd */
    std::string asString() const;

    /** Parameters that may be used by cmdVel_limits() in any derived classes.
     */
    struct TVelCmdParams
    {
        /** Max. linear speed (m/s) [Default=-1 (not set), will raise exception
         * if needed and not set] */
        double robotMax_V_mps{-1.};
        /** Max. angular speed (rad/s) [Default=-1 (not set), will raise
         * exception if needed and not set] */
        double robotMax_W_radps{-1.};
        /** Min. radius of curvature of paths (m) [Default=-1 (not set), will
         * raise exception if needed and not set] */
        double robotMinCurvRadius{-1.};

        TVelCmdParams();
        /** Load any parameter required by a CVehicleVelCmd derived class. */
        void loadConfigFile(
            const mrpt::config::CConfigFileBase& cfg,
            const std::string& section);
        void saveToConfigFile(
            mrpt::config::CConfigFileBase& c, const std::string& s) const;
    };

    /** Scale the velocity command encoded in this object.
     * \param[in] vel_scale A scale within [0,1] reflecting how much should be
     * the raw velocity command be lessen (e.g. for safety reasons,...).
     * \param[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
     */
    virtual void cmdVel_scale(double vel_scale) = 0;

    /** 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.
     * \return The [0,1] ratio that the cmdvel had to be scaled down, or 1.0 if
     * none.
     */
    virtual double cmdVel_limits(
        const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta,
        const TVelCmdParams& params) = 0;
};

}  // namespace mrpt::kinematics