Main MRPT website > C++ reference
MRPT logo
Public Member Functions | Public Attributes | Private Member Functions | Private Attributes

mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow Class Reference


Detailed Description

For taken the dynamics of the robot into account.

Definition at line 276 of file CReactiveNavigationSystem.h.

List of all members.

Public Member Functions

void findMinMaxCurvatures (float &minCurv, float &maxCurv)
 Finds the max/min curvatures in the DW.
void findBestApproximation (float desV, float desW, float &outV, float &outW)
 Returns the corner which is closer (in curvature, and abs.

Public Attributes

float v_max
float v_min
float w_max
float w_min

Private Member Functions

bool findClosestCut (float cmd_v, float cmd_w, float &out_v, float &out_w)
 Find the closest cut of a line with the DW.

Private Attributes

float c1
float c2
float c3
float c4

Member Function Documentation

void mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::findBestApproximation ( float  desV,
float  desW,
float &  outV,
float &  outW 
)

Returns the corner which is closer (in curvature, and abs.

values) to the desired command.

bool mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::findClosestCut ( float  cmd_v,
float  cmd_w,
float &  out_v,
float &  out_w 
) [private]

Find the closest cut of a line with the DW.

void mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::findMinMaxCurvatures ( float &  minCurv,
float &  maxCurv 
)

Finds the max/min curvatures in the DW.


Member Data Documentation

Definition at line 283 of file CReactiveNavigationSystem.h.

Definition at line 283 of file CReactiveNavigationSystem.h.

Definition at line 283 of file CReactiveNavigationSystem.h.

Definition at line 283 of file CReactiveNavigationSystem.h.

Definition at line 279 of file CReactiveNavigationSystem.h.

Definition at line 279 of file CReactiveNavigationSystem.h.

Definition at line 280 of file CReactiveNavigationSystem.h.

Definition at line 280 of file CReactiveNavigationSystem.h.




Page generated by Doxygen 1.7.3 for MRPT 0.9.4 SVN:exported at Tue Jan 25 21:56:31 UTC 2011