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mrpt::reactivenav::CPTG1 Class Reference


Detailed Description

A PTG for circular paths.

The parameter K is related with the transformation between alfa values and curvature of the arcs. Let R be the radius of the circular path (the inverse of the curvature). Then:

R = K / (vMAX tan )

Definition at line 42 of file CPTG1.h.

#include <mrpt/reactivenav/CPTG1.h>

Inheritance diagram for mrpt::reactivenav::CPTG1:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 CPTG1 (const TParameters< double > &params)
 Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:

  • K: Direction, +1 or -1.

void lambdaFunction (float x, float y, int &out_k, float &out_d)
 The lambda function.
std::string getDescription ()
 Gets a short textual description of the PTG and its parameters.
bool PTG_IsIntoDomain (float x, float y)
 To be implemented in derived classes:
void PTG_Generator (float alfa, float t, float x, float y, float phi, float &v, float &w)
 The main method to be implemented in derived classes.

Protected Attributes

float K
 A generation parameter.

Constructor & Destructor Documentation

mrpt::reactivenav::CPTG1::CPTG1 ( const TParameters< double > &  params)

Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:

  • K: Direction, +1 or -1.


Member Function Documentation

std::string mrpt::reactivenav::CPTG1::getDescription ( ) [virtual]

Gets a short textual description of the PTG and its parameters.

Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.

void mrpt::reactivenav::CPTG1::lambdaFunction ( float  x,
float  y,
int &  out_k,
float &  out_d 
) [virtual]

The lambda function.

Reimplemented from mrpt::reactivenav::CParameterizedTrajectoryGenerator.

void mrpt::reactivenav::CPTG1::PTG_Generator ( float  alfa,
float  t,
float  x,
float  y,
float  phi,
float &  v,
float &  w 
) [virtual]

The main method to be implemented in derived classes.

Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.

bool mrpt::reactivenav::CPTG1::PTG_IsIntoDomain ( float  x,
float  y 
) [virtual]

To be implemented in derived classes:

Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.


Member Data Documentation

float mrpt::reactivenav::CPTG1::K [protected]

A generation parameter.

Definition at line 62 of file CPTG1.h.




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