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CPTG_DiffDrive_CCS.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, 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 nav
16 {
17 /** A PTG for optimal paths of type "C|C,S" (as named in PTG papers).
18  * - **Compatible kinematics**: differential-driven / Ackermann steering
19  * - **Compatible robot shape**: Arbitrary 2D polygon
20  * - **PTG parameters**: Use the app `ptg-configurator`
21  *
22  * See also "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And
23  * Autom, 1999.
24  * \note [Before MRPT 1.5.0 this was named CPTG3]
25  * \ingroup nav_tpspace
26  */
28 {
30  public:
31  CPTG_DiffDrive_CCS() : R(0), K(0) {}
33  const mrpt::config::CConfigFileBase& cfg, const std::string& sSection)
34  {
35  loadFromConfigFile(cfg, sSection);
36  }
37  virtual void loadFromConfigFile(
39  const std::string& sSection) override;
40  virtual void saveToConfigFile(
42  const std::string& sSection) const override;
43 
44  std::string getDescription() const override;
45  bool PTG_IsIntoDomain(double x, double y) const override;
47  float alpha, float t, float x, float y, float phi, float& v,
48  float& w) const override;
49  void loadDefaultParams() override;
50 
51  protected:
52  double R, K;
53 };
54 }
55 }
GLclampf GLclampf GLclampf alpha
Definition: glext.h:3525
GLdouble GLdouble t
Definition: glext.h:3689
void loadDefaultParams() override
Loads a set of default parameters; provided exclusively for the PTG-configurator tool.
GLubyte GLubyte GLubyte GLubyte w
Definition: glext.h:4178
bool PTG_IsIntoDomain(double x, double y) const override
Returns the same than inverseMap_WS2TP() but without any additional cost.
This class allows loading and storing values and vectors of different types from a configuration text...
std::string getDescription() const override
Gets a short textual description of the PTG and its parameters.
virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override
Possible values in "params" (those in CParameterizedTrajectoryGenerator, which is called internally...
GLsizei const GLchar ** string
Definition: glext.h:4101
const GLdouble * v
Definition: glext.h:3678
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...
virtual void saveToConfigFile(mrpt::config::CConfigFileBase &cfg, const std::string &sSection) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
Base class for all PTGs suitable to non-holonomic, differentially-driven (or Ackermann) vehicles base...
GLenum GLint GLint y
Definition: glext.h:3538
A PTG for optimal paths of type "C|C,S" (as named in PTG papers).
GLenum GLint x
Definition: glext.h:3538
void ptgDiffDriveSteeringFunction(float alpha, float t, float x, float y, float phi, float &v, float &w) const override
The main method to be implemented in derived classes: it defines the differential-driven differential...
CPTG_DiffDrive_CCS(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection)



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