Kinematic model for Ackermann-like or differential-driven vehicles.
Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.
#include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) noexcept |
void | operator delete[] (void *ptr) noexcept |
void | operator delete (void *memory, void *ptr) noexcept |
void * | operator new (size_t size, const std::nothrow_t &) noexcept |
void | operator delete (void *ptr, const std::nothrow_t &) noexcept |
CVehicleVelCmd_DiffDriven () | |
virtual | ~CVehicleVelCmd_DiffDriven () |
size_t | getVelCmdLength () const override |
Get number of components in each velocity command. More... | |
std::string | getVelCmdDescription (const int index) const override |
Get textual, human-readable description of each velocity command component. More... | |
double | getVelCmdElement (const int index) const override |
Get each velocity command component. More... | |
void | setVelCmdElement (const int index, const double val) override |
Set each velocity command component. More... | |
bool | isStopCmd () const override |
Returns true if the command means "do not move" / "stop". More... | |
void | setToStop () override |
Set to a command that means "do not move" / "stop". More... | |
void | cmdVel_scale (double vel_scale) override |
See docs of method in base class. More... | |
double | cmdVel_limits (const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams ¶ms) override |
See base class docs. More... | |
std::string | asString () const |
Returns a human readable description of the cmd. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
RTTI classes and functions | |
mrpt::utils::CObject::Ptr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
Public Attributes | |
double | lin_vel |
Linear velocity (m/s) More... | |
double | ang_vel |
Angular velocity (rad/s) More... | |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const override |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) override |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Private Member Functions | |
double | filter_max_vw (double &v, double &w, const TVelCmdParams &p) |
RTTI stuff | |
using | Ptr = std::shared_ptr< CVehicleVelCmd_DiffDriven > |
using | ConstPtr = std::shared_ptr< const CVehicleVelCmd_DiffDriven > |
static mrpt::utils::CLASSINIT | _init_CVehicleVelCmd_DiffDriven |
static const mrpt::utils::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CVehicleVelCmd_DiffDriven" |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
static const mrpt::utils::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static mrpt::utils::CObject * | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
using mrpt::kinematics::CVehicleVelCmd_DiffDriven::ConstPtr = std::shared_ptr<const CVehicleVelCmd_DiffDriven > |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
using mrpt::kinematics::CVehicleVelCmd_DiffDriven::Ptr = std::shared_ptr< CVehicleVelCmd_DiffDriven > |
A typedef for the associated smart pointer
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
mrpt::kinematics::CVehicleVelCmd_DiffDriven::CVehicleVelCmd_DiffDriven | ( | ) |
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virtual |
Definition at line 24 of file CVehicleVelCmd_DiffDriven.cpp.
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staticprotected |
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inherited |
Returns a human readable description of the cmd.
Definition at line 22 of file CVehicleVelCmd.cpp.
References mrpt::mrpt::format().
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::utils::CObject.
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overridevirtual |
See base class docs.
Tecognizes these parameters: robotMax_V_mps
, robotMax_W_degps
Implements mrpt::kinematics::CVehicleVelCmd.
Definition at line 109 of file CVehicleVelCmd_DiffDriven.cpp.
References ang_vel, ASSERT_, ASSERTMSG_, filter_max_vw(), and lin_vel.
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overridevirtual |
See docs of method in base class.
The implementation for differential-driven robots of this method just multiplies all the components of vel_cmd times vel_scale, which is appropriate for differential-driven kinematic models (v,w).
Implements mrpt::kinematics::CVehicleVelCmd.
Definition at line 103 of file CVehicleVelCmd_DiffDriven.cpp.
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inlinestatic |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
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static |
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private |
Definition at line 142 of file CVehicleVelCmd_DiffDriven.cpp.
Referenced by cmdVel_limits().
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::kinematics::CVehicleVelCmd.
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static |
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overridevirtual |
Get textual, human-readable description of each velocity command component.
Implements mrpt::kinematics::CVehicleVelCmd.
Definition at line 26 of file CVehicleVelCmd_DiffDriven.cpp.
References THROW_EXCEPTION_FMT.
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overridevirtual |
Get each velocity command component.
Implements mrpt::kinematics::CVehicleVelCmd.
Definition at line 42 of file CVehicleVelCmd_DiffDriven.cpp.
References ang_vel, lin_vel, and THROW_EXCEPTION_FMT.
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overridevirtual |
Get number of components in each velocity command.
Implements mrpt::kinematics::CVehicleVelCmd.
Definition at line 25 of file CVehicleVelCmd_DiffDriven.cpp.
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overridevirtual |
Returns true if the command means "do not move" / "stop".
Implements mrpt::kinematics::CVehicleVelCmd.
Definition at line 73 of file CVehicleVelCmd_DiffDriven.cpp.
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
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inlinenoexcept |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
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inlinenoexcept |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
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inlinestatic |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
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inlinenoexcept |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
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inline |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
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inline |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
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overrideprotectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 79 of file CVehicleVelCmd_DiffDriven.cpp.
References ang_vel, lin_vel, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
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overridevirtual |
Set to a command that means "do not move" / "stop".
Implements mrpt::kinematics::CVehicleVelCmd.
Definition at line 78 of file CVehicleVelCmd_DiffDriven.cpp.
References ang_vel, and lin_vel.
Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::stop().
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overridevirtual |
Set each velocity command component.
Implements mrpt::kinematics::CVehicleVelCmd.
Definition at line 57 of file CVehicleVelCmd_DiffDriven.cpp.
References ang_vel, lin_vel, THROW_EXCEPTION_FMT, and val.
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 89 of file CSerializable.h.
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overrideprotectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 92 of file CVehicleVelCmd_DiffDriven.cpp.
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staticprotected |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
double mrpt::kinematics::CVehicleVelCmd_DiffDriven::ang_vel |
Angular velocity (rad/s)
Definition at line 28 of file CVehicleVelCmd_DiffDriven.h.
Referenced by cmdVel_limits(), cmdVel_scale(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(), getVelCmdElement(), isStopCmd(), readFromStream(), mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().
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static |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
double mrpt::kinematics::CVehicleVelCmd_DiffDriven::lin_vel |
Linear velocity (m/s)
Definition at line 26 of file CVehicleVelCmd_DiffDriven.h.
Referenced by cmdVel_limits(), cmdVel_scale(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(), getVelCmdElement(), isStopCmd(), readFromStream(), mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().
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staticprotected |
Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.
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