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CPTG7.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 CPTG7_H
10 #define CPTG7_H
11 
13 
14 namespace mrpt
15 {
16  namespace nav
17  {
18  /** Trajectories with a fixed linear speed (V_MAX) and a first turning part followed by a straight segment.
19  *
20  * \ingroup nav_tpspace
21  */
23  {
24  public:
25  /** Constructor (this PTG has no parameters)
26  */
28 
29  /** Gets a short textual description of the PTG and its parameters.
30  */
31  std::string getDescription() const;
32 
33  bool PTG_IsIntoDomain( float x, float y );
34 
35  void PTG_Generator( float alpha, float t,float x, float y, float phi, float &v, float &w );
36 
37  protected:
38 
39  };
40  }
41 }
42 
43 
44 #endif
45 
Trajectories with a fixed linear speed (V_MAX) and a first turning part followed by a straight segmen...
Definition: CPTG7.h:23
CPTG7(const mrpt::utils::TParameters< double > &params)
Constructor (this PTG has no parameters)
std::string getDescription() const
Gets a short textual description of the PTG and its parameters.
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.
bool PTG_IsIntoDomain(float x, float y)
To be implemented in derived classes.
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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