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CPTG_DiffDrive_alpha.cpp
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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 
10 #include "nav-precomp.h" // Precomp header
12 #include <mrpt/system/os.h>
14 
15 using namespace mrpt;
16 using namespace mrpt::nav;
17 using namespace mrpt::system;
18 
21 
23  const mrpt::config::CConfigFileBase& cfg, const std::string& sSection)
24 {
26 
28  cte_a0v_deg, double, cte_a0v, cfg, sSection);
30  cte_a0w_deg, double, cte_a0w, cfg, sSection);
31 }
33  mrpt::config::CConfigFileBase& cfg, const std::string& sSection) const
34 {
36  const int WN = 25, WV = 30;
38 
39  cfg.write(
40  sSection, "cte_a0v_deg", mrpt::RAD2DEG(cte_a0v), WN, WV,
41  "Contant for vel profile [deg].");
42  cfg.write(
43  sSection, "cte_a0w_deg", mrpt::RAD2DEG(cte_a0v), WN, WV,
44  "Contant for omega profile [deg].");
45 
46  MRPT_END
47 }
48 
50 {
51  char str[100];
53  str, 100, "CPTG_DiffDrive_alpha,av=%udeg,aw=%udeg",
54  (int)RAD2DEG(cte_a0v), (int)RAD2DEG(cte_a0w));
55  return std::string(str);
56 }
57 
60 {
62 
63  switch (version)
64  {
65  case 0:
66  in >> cte_a0v >> cte_a0w;
67  break;
68  default:
70  };
71 }
72 
75 {
77  out << cte_a0v << cte_a0w;
78 }
79 /*---------------------------------------------------------------
80  ptgDiffDriveSteeringFunction
81  ---------------------------------------------------------------*/
83  float alpha, float t, float x, float y, float phi, float& v, float& w) const
84 {
88  float At_a = alpha - phi;
89 
90  while (At_a > M_PI) At_a -= (float)M_2PI;
91  while (At_a < -M_PI) At_a += (float)M_2PI;
92 
93  v = V_MAX * exp(-square(At_a / cte_a0v));
94  w = W_MAX * (-0.5f + (1 / (1 + exp(-At_a / cte_a0w))));
95 }
96 
98 {
100 
101  cte_a0v = mrpt::DEG2RAD(45.0);
102  cte_a0w = mrpt::DEG2RAD(45.0);
103 }
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
GLclampf GLclampf GLclampf alpha
Definition: glext.h:3525
#define MRPT_START
Definition: exceptions.h:262
GLdouble GLdouble t
Definition: glext.h:3689
double RAD2DEG(const double x)
Radians to degrees.
#define M_2PI
Definition: common.h:58
This namespace provides a OS-independent interface to many useful functions: filenames manipulation...
Definition: math_frwds.h:25
virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override
Possible values in "params" (those in CParameterizedTrajectoryGenerator, which is called internally...
#define MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT( variableName, variableType, targetVariable, configFileObject, sectionNameStr)
double DEG2RAD(const double x)
Degrees to radians.
void internal_readFromStream(mrpt::serialization::CArchive &in) override
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
GLubyte GLubyte GLubyte GLubyte w
Definition: glext.h:4178
void loadDefaultParams() override
Loads a set of default parameters; provided exclusively for the PTG-configurator tool.
unsigned char uint8_t
Definition: rptypes.h:41
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
Definition: exceptions.h:90
T square(const T x)
Inline function for the square of a number.
This is the base class for any user-defined PTG.
This class allows loading and storing values and vectors of different types from a configuration text...
IMPLEMENTS_SERIALIZABLE(CPTG_DiffDrive_alpha, CParameterizedTrajectoryGenerator, mrpt::nav) void CPTG_DiffDrive_alpha
GLsizei const GLchar ** string
Definition: glext.h:4101
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
void write(const std::string &section, const std::string &name, enum_t value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())
const GLdouble * v
Definition: glext.h:3678
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Virtual base class for "archives": classes abstracting I/O streams.
Definition: CArchive.h:48
The "a(symptotic)-alpha PTG", as named in PTG papers.
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...
#define MRPT_END
Definition: exceptions.h:266
GLuint in
Definition: glext.h:7274
GLenum GLint GLint y
Definition: glext.h:3538
virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override
Possible values in "params" (those in CParameterizedTrajectoryGenerator, which is called internally...
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. ...
virtual void loadDefaultParams() override
Loads a set of default parameters; provided exclusively for the PTG-configurator tool.
GLenum GLint x
Definition: glext.h:3538
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. ...
std::string getDescription() const override
Gets a short textual description of the PTG and its parameters.
int sprintf(char *buf, size_t bufSize, const char *format,...) noexcept MRPT_printf_format_check(3
An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compiler...
Definition: os.cpp:189
void internal_writeToStream(mrpt::serialization::CArchive &out) const override
#define MRPT_UNUSED_PARAM(a)
Determines whether this is an X86 or AMD64 platform.
Definition: common.h:186



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