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CVehicleVelCmd_Holo.h
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1 /* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9 #pragma once
10 
12 
13 namespace mrpt
14 {
15  namespace kinematics
16  {
17  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(CVehicleVelCmd_Holo, CVehicleVelCmd, KINEMATICS_IMPEXP)
18 
19  /** Kinematic model for
20  *
21  * \ingroup mrpt_kinematics_grp
22  */
24  {
26  public:
27  double vel; //!< speed(m / s)
28  double dir_local; //!<: direction, **relative** to the current robot heading (radians). 0 means forward.
29  double ramp_time; //!<: Blending time between current and target time.
30  double rot_speed; //!<: (rad/s) rotational speed for rotating such as the robot slowly faces forward.
31 
33  CVehicleVelCmd_Holo(double vel, double dir_local, double ramp_time, double rot_speed);
34  virtual ~CVehicleVelCmd_Holo();
35  size_t getVelCmdLength() const MRPT_OVERRIDE;
36  std::string getVelCmdDescription(const int index) const MRPT_OVERRIDE;
37  double getVelCmdElement(const int index) const MRPT_OVERRIDE;
38  void setVelCmdElement(const int index, const double val) MRPT_OVERRIDE;
39  bool isStopCmd() const MRPT_OVERRIDE;
40  void setToStop() MRPT_OVERRIDE;
41 
42  // See base class docs.
43  void cmdVel_scale(double vel_scale) MRPT_OVERRIDE;
44  double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params) MRPT_OVERRIDE;
45  };
47 
48  } // End of namespace
49 } // End of namespace
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
STL namespace.
Virtual base for velocity commands of different kinematic models of planar mobile robot...
double ramp_time
: Blending time between current and target time.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
double dir_local
: direction, relative to the current robot heading (radians). 0 means forward.
GLuint index
Definition: glext.h:3891
int val
Definition: mrpt_jpeglib.h:953
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Parameters that may be used by cmdVel_limits() in any derived classes.
GLenum const GLfloat * params
Definition: glext.h:3514
double rot_speed
: (rad/s) rotational speed for rotating such as the robot slowly faces forward.



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