Detailed Description

Kinematic model for Ackermann-like or differential-driven vehicles.

Definition at line 19 of file CVehicleVelCmd_DiffDriven.h.

#include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>

Inheritance diagram for mrpt::kinematics::CVehicleVelCmd_DiffDriven:

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

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 &params) 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 for polymorphic hierarchies
mrpt::rtti::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 {.0}
	Linear velocity (m/s) More...

double	ang_vel {.0}
	Angular velocity (rad/s) More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. 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 >

using	UniquePtr = std::unique_ptr< CVehicleVelCmd_DiffDriven >

using	ConstUniquePtr = std::unique_ptr< const CVehicleVelCmd_DiffDriven >

static mrpt::rtti::CLASSINIT	_init_CVehicleVelCmd_DiffDriven

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CVehicleVelCmd_DiffDriven"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::rtti::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::kinematics::CVehicleVelCmd_DiffDriven::ConstPtr = std::shared_ptr<const CVehicleVelCmd_DiffDriven >

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ ConstUniquePtr

using mrpt::kinematics::CVehicleVelCmd_DiffDriven::ConstUniquePtr = std::unique_ptr<const CVehicleVelCmd_DiffDriven >

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ Ptr

using mrpt::kinematics::CVehicleVelCmd_DiffDriven::Ptr = std::shared_ptr< CVehicleVelCmd_DiffDriven >

A type for the associated smart pointer

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ UniquePtr

using mrpt::kinematics::CVehicleVelCmd_DiffDriven::UniquePtr = std::unique_ptr< CVehicleVelCmd_DiffDriven >

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

Constructor & Destructor Documentation

◆ ~CVehicleVelCmd_DiffDriven()

virtual mrpt::kinematics::CVehicleVelCmd_DiffDriven::~CVehicleVelCmd_DiffDriven ( )

virtual

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_DiffDriven::_GetBaseClass ( )

staticprotected

◆ asString()

std::string mrpt::kinematics::CVehicleVelCmd::asString ( ) const

inherited

Returns a human readable description of the cmd.

Definition at line 21 of file CVehicleVelCmd.cpp.

References mrpt::format().

◆ clone()

virtual mrpt::rtti::CObject* mrpt::kinematics::CVehicleVelCmd_DiffDriven::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ cmdVel_limits()

double CVehicleVelCmd_DiffDriven::cmdVel_limits	(	const mrpt::kinematics::CVehicleVelCmd &	prev_vel_cmd,
		const double	beta,
		const TVelCmdParams &	params
	)

overridevirtual

See base class docs.

Tecognizes these parameters: robotMax_V_mps, robotMax_W_degps

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 100 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, ASSERT_, ASSERTMSG_, filter_max_vw(), and lin_vel.

◆ cmdVel_scale()

void CVehicleVelCmd_DiffDriven::cmdVel_scale ( double vel_scale )

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 94 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, and lin_vel.

◆ Create()

template<typename... Args>

static Ptr mrpt::kinematics::CVehicleVelCmd_DiffDriven::Create ( Args &&... args )

inlinestatic

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::kinematics::CVehicleVelCmd_DiffDriven::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::kinematics::CVehicleVelCmd_DiffDriven::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

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).

Definition at line 168 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

◆ filter_max_vw()

double CVehicleVelCmd_DiffDriven::filter_max_vw	(	double &	v,
		double &	w,
		const TVelCmdParams &	p
	)

private

Definition at line 133 of file CVehicleVelCmd_DiffDriven.cpp.

Referenced by cmdVel_limits().

◆ getClassName()

static constexpr auto mrpt::kinematics::CVehicleVelCmd_DiffDriven::getClassName ( )

inlinestatic

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_DiffDriven::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::kinematics::CVehicleVelCmd.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::kinematics::CVehicleVelCmd_DiffDriven::GetRuntimeClassIdStatic ( )

static

◆ getVelCmdDescription()

std::string CVehicleVelCmd_DiffDriven::getVelCmdDescription ( const int index ) const

overridevirtual

Get textual, human-readable description of each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 21 of file CVehicleVelCmd_DiffDriven.cpp.

References THROW_EXCEPTION_FMT.

◆ getVelCmdElement()

double CVehicleVelCmd_DiffDriven::getVelCmdElement ( const int index ) const

overridevirtual

Get each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 37 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, lin_vel, and THROW_EXCEPTION_FMT.

◆ getVelCmdLength()

size_t CVehicleVelCmd_DiffDriven::getVelCmdLength ( ) const

overridevirtual

Get number of components in each velocity command.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 20 of file CVehicleVelCmd_DiffDriven.cpp.

◆ isStopCmd()

bool CVehicleVelCmd_DiffDriven::isStopCmd ( ) const

overridevirtual

Returns true if the command means "do not move" / "stop".

See also: setToStop

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 68 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, and lin_vel.

◆ operator delete() [1/3]

void mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator delete ( void * ptr )

inlinenoexcept

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ operator delete() [2/3]

void mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ operator delete() [3/3]

void mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ operator delete[]()

void mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ operator new() [1/3]

static void* mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ operator new() [2/3]

void* mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator new ( size_t size )

inline

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ operator new() [3/3]

void* mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ operator new[]()

void* mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator new[] ( size_t size )

inline

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ serializeFrom()

void CVehicleVelCmd_DiffDriven::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

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.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 74 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, lin_vel, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CVehicleVelCmd_DiffDriven::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 87 of file CVehicleVelCmd_DiffDriven.cpp.

◆ serializeTo()

void CVehicleVelCmd_DiffDriven::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 88 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, and lin_vel.

◆ setToStop()

void CVehicleVelCmd_DiffDriven::setToStop ( )

overridevirtual

Set to a command that means "do not move" / "stop".

See also: isStopCmd

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 73 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, and lin_vel.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::stop().

◆ setVelCmdElement()

void CVehicleVelCmd_DiffDriven::setVelCmdElement	(	const int	index,
		const double	val
	)

overridevirtual

Set each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 52 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, lin_vel, THROW_EXCEPTION_FMT, and val.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

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.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 68 of file CSerializable.h.

Member Data Documentation

◆ _init_CVehicleVelCmd_DiffDriven

mrpt::rtti::CLASSINIT mrpt::kinematics::CVehicleVelCmd_DiffDriven::_init_CVehicleVelCmd_DiffDriven

staticprotected

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ ang_vel

double mrpt::kinematics::CVehicleVelCmd_DiffDriven::ang_vel {.0}

Angular velocity (rad/s)

Definition at line 26 of file CVehicleVelCmd_DiffDriven.h.

Referenced by cmdVel_limits(), cmdVel_scale(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(), getVelCmdElement(), isStopCmd(), mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

◆ className

constexpr const char* mrpt::kinematics::CVehicleVelCmd_DiffDriven::className = "CVehicleVelCmd_DiffDriven"

static

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

◆ lin_vel

double mrpt::kinematics::CVehicleVelCmd_DiffDriven::lin_vel {.0}

Linear velocity (m/s)

Definition at line 24 of file CVehicleVelCmd_DiffDriven.h.

Referenced by cmdVel_limits(), cmdVel_scale(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(), getVelCmdElement(), isStopCmd(), mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd_DiffDriven::runtimeClassId

staticprotected

Definition at line 21 of file CVehicleVelCmd_DiffDriven.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ ~CVehicleVelCmd_DiffDriven()

Member Function Documentation

◆ _GetBaseClass()

◆ asString()

◆ clone()

◆ cmdVel_limits()

◆ cmdVel_scale()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ filter_max_vw()

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getVelCmdDescription()

◆ getVelCmdElement()

◆ getVelCmdLength()

◆ isStopCmd()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ serializeFrom()

◆ serializeGetVersion()

◆ serializeTo()

◆ setToStop()

◆ setVelCmdElement()

◆ writeToMatlab()

Member Data Documentation

◆ _init_CVehicleVelCmd_DiffDriven

◆ ang_vel

◆ className

◆ lin_vel

◆ runtimeClassId