Main MRPT website > C++ reference for MRPT 1.4.0
CPTG4.h
Go to the documentation of this file.
1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, 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#ifndef CPTG4_H
10#define CPTG4_H
11
13
14namespace mrpt
15{
16 namespace nav
17 {
18 /** A PTG for optimal paths of type "C|C" , as named in PTG papers.
19 * See also "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And Autom, 1999.
20 * \ingroup nav_tpspace
21 */
23 {
24 public:
25 /** Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
26 * - K: Direction, +1 or -1
27 */
29
30 /** Gets a short textual description of the PTG and its parameters.
31 */
32 std::string getDescription() const;
33
34 bool PTG_IsIntoDomain( float x, float y );
35
36 void PTG_Generator( float alpha, float t,float x, float y, float phi, float &v, float &w );
37
38
39 protected:
40 float R,K;
41
42 };
43 }
44}
45
46
47#endif
48
A PTG for optimal paths of type "C|C" , as named in PTG papers.
Definition: CPTG4.h:23
void PTG_Generator(float alpha, float t, float x, float y, float phi, float &v, float &w)
The main method to be implemented in derived classes.
std::string getDescription() const
Gets a short textual description of the PTG and its parameters.
bool PTG_IsIntoDomain(float x, float y)
To be implemented in derived classes.
CPTG4(const mrpt::utils::TParameters< double > &params)
Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
This is the base class for any user-defined PTG.
EIGEN_STRONG_INLINE const AdjointReturnType t() const
Transpose.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
For usage when passing a dynamic number of (numeric) arguments to a function, by name.
Definition: TParameters.h:47



Page generated by Doxygen 1.9.6 for MRPT 1.4.0 SVN: at Thu Jan 19 22:37:47 UTC 2023