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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
14namespace 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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