mrpt::reactivenav::CPTG1 Class Reference

A PTG for circular paths. More...

#include <mrpt/reactivenav/CPTG1.h>

Inheritance diagram for mrpt::reactivenav::CPTG1:

List of all members.

Public Member Functions
	CPTG1 (float refDistance, float xResolution, float yResolution, float V_MAX, float W_MAX, float system_TAU, float system_DELAY, vector_float securityDistances, float K)
	Constructor.
void	lambdaFunction (float x, float y, int &out_k, float &out_d)
	The lambda function.
std::string	getDescription ()
	Gets a short textual description of the PTG and its parameters.
bool	PTG_IsIntoDomain (float x, float y)
	To be implemented in derived classes:.
void	PTG_Generator (float alfa, float t, float x, float y, float phi, float &v, float &w)
	The main method to be implemented in derived classes.
Protected Attributes
float	K
	A generation parameter.

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Detailed Description

A PTG for circular paths.

The parameter K is related with the transformation between alfa values and curvature of the arcs. Let R be the radius of the circular path (the inverse of the curvature). Then:

R = K / (vMAX tan )

Definition at line 42 of file CPTG1.h.

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Constructor & Destructor Documentation

mrpt::reactivenav::CPTG1::CPTG1	(	float	refDistance,
		float	xResolution,
		float	yResolution,
		float	V_MAX,
		float	W_MAX,
		float	system_TAU,
		float	system_DELAY,
		vector_float	securityDistances,
		float	K
	)

Constructor.

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Member Function Documentation

std::string mrpt::reactivenav::CPTG1::getDescription

(

)

[virtual]

Gets a short textual description of the PTG and its parameters.

Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.

void mrpt::reactivenav::CPTG1::lambdaFunction	(	float	x,
		float	y,
		int &	out_k,
		float &	out_d
	)			[virtual]

The lambda function.

Reimplemented from mrpt::reactivenav::CParameterizedTrajectoryGenerator.

void mrpt::reactivenav::CPTG1::PTG_Generator	(	float	alfa,
		float	t,
		float	x,
		float	y,
		float	phi,
		float &	v,
		float &	w
	)			[virtual]

The main method to be implemented in derived classes.

Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.

bool mrpt::reactivenav::CPTG1::PTG_IsIntoDomain	(	float	x,
		float	y
	)			[virtual]

To be implemented in derived classes:.

Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.

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Member Data Documentation

float mrpt::reactivenav::CPTG1::K [protected]

A generation parameter.

Definition at line 74 of file CPTG1.h.