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CPTG4.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 CPTG4_H
00029 #define CPTG4_H
00030 
00031 #include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>
00032 
00033 namespace mrpt
00034 {
00035   namespace reactivenav
00036   {
00037         /** A PTG for optimal paths of type "C|C".
00038           *  See "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And Autom, 1999.
00039          */
00040         class REACTIVENAV_IMPEXP  CPTG4 : public CParameterizedTrajectoryGenerator
00041         {
00042          public:
00043                         /** Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
00044                          *   - K: Direction, +1 or -1
00045                          */
00046                         CPTG4(const TParameters<double> &params );
00047 
00048                         /** The lambda function.
00049                           */
00050                         void lambdaFunction( float x, float y, int &out_k, float &out_d );
00051                         
00052                         /** Gets a short textual description of the PTG and its parameters.
00053                         */
00054                         std::string getDescription();
00055 
00056                         bool PTG_IsIntoDomain( float x, float y );
00057 
00058                         void PTG_Generator( float alfa, float t,float x, float y, float phi, float &v, float &w );
00059 
00060 
00061          protected:
00062                  float          R,K;
00063         
00064         };
00065   }
00066 }
00067 
00068 
00069 #endif
00070 



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