00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Perception and Robotics | 00009 | research group, 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 CPTG2_H 00029 #define CPTG2_H 00030 00031 #include "CParameterizedTrajectoryGenerator.h" 00032 00033 namespace mrpt 00034 { 00035 namespace reactivenav 00036 { 00039 class RNAVDLLIMPEXP CPTG2 : public CParameterizedTrajectoryGenerator 00040 { 00041 public: 00044 CPTG2( float refDistance, 00045 float xResolution, 00046 float yResolution, 00047 float V_MAX, 00048 float W_MAX, 00049 float system_TAU, 00050 float system_DELAY, 00051 vector_float securityDistances, 00052 00053 float cte_a0v, 00054 float cte_a0w ); 00055 00058 void lambdaFunction( float x, float y, int &out_k, float &out_d ); 00059 00062 std::string getDescription(); 00063 00064 bool PTG_IsIntoDomain( float x, float y ); 00065 00066 void PTG_Generator( float alfa, float t,float x, float y, float phi, float &v, float &w ); 00067 protected: 00068 float cte_a0v; 00069 float cte_a0w; 00070 00071 00072 }; 00073 } 00074 } 00075 00076 00077 #endif 00078
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