For taken the dynamics of the robot into account.
Definition at line 276 of file CReactiveNavigationSystem.h.
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 |
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.
float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::c1 [private] |
Definition at line 283 of file CReactiveNavigationSystem.h.
float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::c2 [private] |
Definition at line 283 of file CReactiveNavigationSystem.h.
float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::c3 [private] |
Definition at line 283 of file CReactiveNavigationSystem.h.
float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::c4 [private] |
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.
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