A PTG for optimal paths of type "C|C,S".
See "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And Autom, 1999.
#include <mrpt/reactivenav/CPTG5.h>
Public Member Functions | |
CPTG5 (const TParameters< double > ¶ms) | |
Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
| |
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 | R |
float | K |
mrpt::reactivenav::CPTG5::CPTG5 | ( | const TParameters< double > & | params | ) |
Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
std::string mrpt::reactivenav::CPTG5::getDescription | ( | ) | [virtual] |
Gets a short textual description of the PTG and its parameters.
Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.
void mrpt::reactivenav::CPTG5::lambdaFunction | ( | float | x, |
float | y, | ||
int & | out_k, | ||
float & | out_d | ||
) | [virtual] |
The lambda function.
Reimplemented from mrpt::reactivenav::CParameterizedTrajectoryGenerator.
void mrpt::reactivenav::CPTG5::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::CPTG5::PTG_IsIntoDomain | ( | float | x, |
float | y | ||
) | [virtual] |
To be implemented in derived classes:
Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.
float mrpt::reactivenav::CPTG5::K [protected] |
float mrpt::reactivenav::CPTG5::R [protected] |
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