00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Perception and Robotics | 00009 | research group, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CPTG1_H 00029 #define CPTG1_H 00030 00031 #include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h> 00032 00033 namespace mrpt 00034 { 00035 namespace reactivenav 00036 { 00037 00038 /** A PTG for circular paths. The parameter K is related with the transformation between alfa values 00039 and curvature of the arcs. Let R be the radius of the circular path (the inverse of the curvature). 00040 Then: <br> <center><code> R = K / (v<sub>MAX</sub> tan &alfa;) </code></center> 00041 */ 00042 class RNAVDLLIMPEXP CPTG1 : public CParameterizedTrajectoryGenerator 00043 { 00044 public: 00045 /** Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus: 00046 * - K: Direction, +1 or -1 00047 */ 00048 CPTG1(const TParameters<double> ¶ms ); 00049 00050 /** The lambda function. */ 00051 void lambdaFunction( float x, float y, int &out_k, float &out_d ); 00052 00053 /** Gets a short textual description of the PTG and its parameters. */ 00054 std::string getDescription(); 00055 00056 00057 bool PTG_IsIntoDomain( float x, float y ); 00058 void PTG_Generator( float alfa, float t,float x, float y, float phi, float &v, float &w ); 00059 00060 protected: 00061 /** A generation parameter */ 00062 float K; 00063 }; 00064 } 00065 } 00066 00067 00068 #endif 00069
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