Main MRPT website
>
C++ reference for MRPT 1.4.0
mrpt
nav
tpspace
CPTG6.h
Go to the documentation of this file.
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 CPTG6_H
10
#define CPTG6_H
11
12
#include <
mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h
>
13
14
namespace
mrpt
15
{
16
namespace
nav
17
{
18
/** A variation of the alpha-PTG (with fixed parameters, for now)
19
* \ingroup nav_tpspace
20
*/
21
class
NAV_IMPEXP
CPTG6
:
public
CParameterizedTrajectoryGenerator
22
{
23
public
:
24
/** Constructor (this PTG has no parameters)
25
*/
26
CPTG6
(
const
mrpt::utils::TParameters<double>
¶ms );
27
28
/** Gets a short textual description of the PTG and its parameters.
29
*/
30
std::string getDescription()
const
;
31
32
bool
PTG_IsIntoDomain(
float
x,
float
y );
33
34
void
PTG_Generator(
float
alpha,
float
t
,
float
x,
float
y,
float
phi,
float
&v,
float
&w );
35
protected
:
36
37
};
38
}
39
}
40
41
42
#endif
43
CParameterizedTrajectoryGenerator.h
NAV_IMPEXP
#define NAV_IMPEXP
Definition:
nav/include/mrpt/nav/link_pragmas.h:90
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition:
CParticleFilter.h:16
mrpt::nav::CPTG6
A variation of the alpha-PTG (with fixed parameters, for now)
Definition:
CPTG6.h:21
t
const EIGEN_STRONG_INLINE AdjointReturnType t() const
Transpose.
Definition:
eigen_plugins.h:470
mrpt::utils::TParameters
For usage when passing a dynamic number of (numeric) arguments to a function, by name.
Definition:
TParameters.h:46
mrpt::nav::CParameterizedTrajectoryGenerator
This is the base class for any user-defined PTG.
Definition:
CParameterizedTrajectoryGenerator.h:56
Page generated by
Doxygen 1.8.16
for MRPT 1.4.0 SVN: at Mon Oct 14 23:08:25 UTC 2019