CPTG_DiffDrive_alpha.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "nav-precomp.h"  // Precomp header
#include <mrpt/nav/tpspace/CPTG_DiffDrive_alpha.h>
#include <mrpt/system/os.h>

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

IMPLEMENTS_SERIALIZABLE(
        CPTG_DiffDrive_alpha, CParameterizedTrajectoryGenerator, mrpt::nav)

void CPTG_DiffDrive_alpha::loadFromConfigFile(
        const mrpt::utils::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::utils::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::utils::RAD2DEG(cte_a0v), WN, WV,
                "Contant for vel profile [deg].");
        cfg.write(
                sSection, "cte_a0w_deg", mrpt::utils::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::readFromStream(mrpt::utils::CStream& in, int version)
{
        CPTG_DiffDrive_CollisionGridBased::internal_readFromStream(in);

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

void CPTG_DiffDrive_alpha::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
        {
                *version = 0;
                return;
        }

        CPTG_DiffDrive_CollisionGridBased::internal_writeToStream(out);
        out << cte_a0v << cte_a0w;
}
/*---------------------------------------------------------------
                                                ptgDiffDriveSteeringFunction
  ---------------------------------------------------------------*/
void CPTG_DiffDrive_alpha::ptgDiffDriveSteeringFunction(
        float alpha, float t, float x, float y, float phi, float& v, float& w) const
{
        MRPT_UNUSED_PARAM(t);
        MRPT_UNUSED_PARAM(x);
        MRPT_UNUSED_PARAM(y);
        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::utils::DEG2RAD(45.0);
        cte_a0w = mrpt::utils::DEG2RAD(45.0);
}