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mrpt::kinematics::CVehicleVelCmd_DiffDriven Class Reference

Detailed Description

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

Definition at line 23 of file CVehicleVelCmd_DiffDriven.h.

#include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>

Inheritance diagram for mrpt::kinematics::CVehicleVelCmd_DiffDriven:
Inheritance graph

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CVehicleVelCmd_DiffDriven ()
 
virtual ~CVehicleVelCmd_DiffDriven ()
 
size_t getVelCmdLength () const MRPT_OVERRIDE
 Get number of components in each velocity command. More...
 
std::string getVelCmdDescription (const int index) const MRPT_OVERRIDE
 Get textual, human-readable description of each velocity command component. More...
 
double getVelCmdElement (const int index) const MRPT_OVERRIDE
 Get each velocity command component. More...
 
void setVelCmdElement (const int index, const double val) MRPT_OVERRIDE
 Set each velocity command component. More...
 
bool isStopCmd () const MRPT_OVERRIDE
 Returns true if the command means "do not move" / "stop". More...
 
void setToStop () MRPT_OVERRIDE
 Set to a command that means "do not move" / "stop". More...
 
void cmdVel_scale (double vel_scale) MRPT_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) MRPT_OVERRIDE
 See base class docs. More...
 
std::string asString () const
 Returns a human readable description of the cmd. More...
 
virtual mxArraywriteToMatlab () 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...
 
mrpt::utils::CObjectPtr 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Public Attributes

double lin_vel
 Linear velocity (m/s) More...
 
double ang_vel
 Angular velocity (rad/s) More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCVehicleVelCmd
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 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

typedef
CVehicleVelCmd_DiffDrivenPtr 
Ptr
 
typedef
CVehicleVelCmd_DiffDrivenPtr 
ConstPtr
 
static mrpt::utils::CLASSINIT _init_CVehicleVelCmd_DiffDriven
 
static mrpt::utils::TRuntimeClassId classCVehicleVelCmd_DiffDriven
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CVehicleVelCmd_DiffDrivenPtr Create ()
 

Member Typedef Documentation

typedef CVehicleVelCmd_DiffDrivenPtr mrpt::kinematics::CVehicleVelCmd_DiffDriven::ConstPtr

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

typedef CVehicleVelCmd_DiffDrivenPtr mrpt::kinematics::CVehicleVelCmd_DiffDriven::Ptr

A typedef for the associated smart pointer

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

Constructor & Destructor Documentation

CVehicleVelCmd_DiffDriven::CVehicleVelCmd_DiffDriven ( )

Definition at line 19 of file CVehicleVelCmd_DiffDriven.cpp.

CVehicleVelCmd_DiffDriven::~CVehicleVelCmd_DiffDriven ( )
virtual

Definition at line 24 of file CVehicleVelCmd_DiffDriven.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_DiffDriven::_GetBaseClass ( )
staticprotected
std::string mrpt::kinematics::CVehicleVelCmd::asString ( ) const
inherited

Returns a human readable description of the cmd.

Definition at line 31 of file CVehicleVelCmd.cpp.

References mrpt::mrpt::format().

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

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

See base class docs.

Tecognizes these parameters: robotMax_V_mps, robotMax_W_degps

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 103 of file CVehicleVelCmd_DiffDriven.cpp.

References ang_vel, ASSERT_, ASSERTMSG_, lin_vel, mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::robotMax_V_mps, and mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::robotMax_W_radps.

void CVehicleVelCmd_DiffDriven::cmdVel_scale ( double  vel_scale)
virtual

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 97 of file CVehicleVelCmd_DiffDriven.cpp.

static CVehicleVelCmd_DiffDrivenPtr mrpt::kinematics::CVehicleVelCmd_DiffDriven::Create ( )
static
static mrpt::utils::CObject* mrpt::kinematics::CVehicleVelCmd_DiffDriven::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::kinematics::CVehicleVelCmd_DiffDriven::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::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 140 of file CObject.h.

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

double CVehicleVelCmd_DiffDriven::filter_max_vw ( double &  v,
double &  w,
const TVelCmdParams p 
)
private
virtual const mrpt::utils::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_DiffDriven::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::kinematics::CVehicleVelCmd.

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

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

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 32 of file CVehicleVelCmd_DiffDriven.cpp.

References THROW_EXCEPTION_FMT.

double CVehicleVelCmd_DiffDriven::getVelCmdElement ( const int  index) const
virtual

Get each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 43 of file CVehicleVelCmd_DiffDriven.cpp.

References THROW_EXCEPTION_FMT.

size_t CVehicleVelCmd_DiffDriven::getVelCmdLength ( ) const
virtual

Get number of components in each velocity command.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 27 of file CVehicleVelCmd_DiffDriven.cpp.

bool CVehicleVelCmd_DiffDriven::isStopCmd ( ) const
virtual

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

See Also
setToStop

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 65 of file CVehicleVelCmd_DiffDriven.cpp.

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

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

void mrpt::kinematics::CVehicleVelCmd_DiffDriven::operator delete ( void ptr)
throw (
)
inline

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

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

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

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

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

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

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

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

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

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

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

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

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

void CVehicleVelCmd_DiffDriven::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

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.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 75 of file CVehicleVelCmd_DiffDriven.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CVehicleVelCmd_DiffDriven::setToStop ( )
virtual

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

See Also
isStopCmd

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 70 of file CVehicleVelCmd_DiffDriven.cpp.

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

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

Set each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 54 of file CVehicleVelCmd_DiffDriven.cpp.

References THROW_EXCEPTION_FMT.

virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CVehicleVelCmd_DiffDriven::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

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.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, 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.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 87 of file CVehicleVelCmd_DiffDriven.cpp.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::kinematics::CVehicleVelCmd_DiffDriven::_init_CVehicleVelCmd_DiffDriven
staticprotected

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

double mrpt::kinematics::CVehicleVelCmd_DiffDriven::ang_vel
const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd::classCVehicleVelCmd
staticinherited

Definition at line 26 of file CVehicleVelCmd.h.

mrpt::utils::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd_DiffDriven::classCVehicleVelCmd_DiffDriven
static

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

const mrpt::utils::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_DiffDriven::classinfo
static

Definition at line 25 of file CVehicleVelCmd_DiffDriven.h.

double mrpt::kinematics::CVehicleVelCmd_DiffDriven::lin_vel



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