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CPTG4.h
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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 
14 namespace 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



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