CVehicleVelCmd_Holo.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/kinematics/CVehicleVelCmd.h>

namespace mrpt::kinematics
{
/** Kinematic model for
 *
 * \ingroup mrpt_kinematics_grp
 */
class CVehicleVelCmd_Holo : public CVehicleVelCmd
{
    DEFINE_SERIALIZABLE(CVehicleVelCmd_Holo, mrpt::kinematics)
   public:
    /** speed(m / s) */
    double vel{.0};
    /**: direction, **relative** to the current robot heading (radians). 0 means
     * forward. */
    double dir_local{.0};
    /**: Blending time between current and target time. */
    double ramp_time{.0};
    /**: (rad/s) rotational speed for rotating such as the robot slowly faces
     * forward. */
    double rot_speed{.0};

    CVehicleVelCmd_Holo();
    CVehicleVelCmd_Holo(
        double vel, double dir_local, double ramp_time, double rot_speed);
    ~CVehicleVelCmd_Holo() override;
    size_t getVelCmdLength() const override;
    std::string getVelCmdDescription(const int index) const override;
    double getVelCmdElement(const int index) const override;
    void setVelCmdElement(const int index, const double val) override;
    bool isStopCmd() const override;
    void setToStop() override;

    // See base class docs.
    void cmdVel_scale(double vel_scale) override;
    double cmdVel_limits(
        const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta,
        const TVelCmdParams& params) override;
};

}  // namespace mrpt::kinematics