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CPTG6.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CPTG6_H
00029 #define CPTG6_H
00030 
00031 #include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>
00032 
00033 namespace mrpt
00034 {
00035   namespace reactivenav
00036   {
00037         /** A PTG for circular paths.
00038          */
00039         class REACTIVENAV_IMPEXP  CPTG6 : public CParameterizedTrajectoryGenerator
00040         {
00041          public:
00042                         /** Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
00043                          *   - cte_a0v, cte_a0w: Parameters of this PTG
00044                          */
00045                         CPTG6(const TParameters<double> &params );
00046 
00047                         /** The lambda function.
00048                           */
00049                         void lambdaFunction( float x, float y, int &out_k, float &out_d );
00050                         
00051                         /** Gets a short textual description of the PTG and its parameters.
00052                         */
00053                         std::string getDescription();
00054 
00055                         bool PTG_IsIntoDomain( float x, float y );
00056 
00057                         void PTG_Generator( float alfa, float t,float x, float y, float phi, float &v, float &w );
00058          protected:
00059                         float   cte_a0v;
00060                         float   cte_a0w;
00061 
00062         
00063         };
00064   }
00065 }
00066 
00067 
00068 #endif
00069 



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