Class CVehicleVelCmd

Defined in File CVehicleVelCmd.h

Nested Relationships

Nested Types

Struct CVehicleVelCmd::TVelCmdParams

Inheritance Relationships

Base Types

public mrpt::serialization::CSerializable
public mrpt::Stringifyable

Derived Types

public mrpt::kinematics::CVehicleVelCmd_DiffDriven (Class CVehicleVelCmd_DiffDriven)
public mrpt::kinematics::CVehicleVelCmd_Holo (Class CVehicleVelCmd_Holo)

Class Documentation

class CVehicleVelCmd : public mrpt::serialization::CSerializable, public mrpt::Stringifyable

Virtual base for velocity commands of different kinematic models of planar mobile robot.

Subclassed by mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo

Public Functions

CVehicleVelCmd()

CVehicleVelCmd(const CVehicleVelCmd &other)

~CVehicleVelCmd() override

CVehicleVelCmd &operator=(const CVehicleVelCmd &other)

virtual size_t getVelCmdLength() const = 0: Get number of components in each velocity command

virtual std::string getVelCmdDescription(const int index) const = 0: Get textual, human-readable description of each velocity command component

virtual double getVelCmdElement(const int index) const = 0: Get each velocity command component

virtual void setVelCmdElement(const int index, const double val) = 0: Set each velocity command component

virtual bool isStopCmd() const = 0

Returns true if the command means “do not move” / “stop”.

See also

isStopCmd

virtual std::string asString() const override: Returns a human readable description of the cmd

virtual void cmdVel_scale(double vel_scale) = 0

Scale the velocity command encoded in this object.

Parameters:

vel_scale – [in] A scale within [0,1] reflecting how much should be the raw velocity command be lessen (e.g. for safety reasons,…).
out_vel_cmd – [out] Users can directly inherit from existing implementations instead of manually redefining this method:
- mrpt::kinematics::CVehicleVelCmd_DiffDriven
- mrpt::kinematics::CVehicleVelCmd_Holo

virtual double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params) = 0

Updates this command, computing a blended version of beta (within [0,1]) of vel_cmd and 1-beta of prev_vel_cmd, simultaneously to honoring any user-side maximum velocities.

Returns:: The [0,1] ratio that the cmdvel had to be scaled down, or 1.0 if none.

struct TVelCmdParams

Parameters that may be used by cmdVel_limits() in any derived classes.

Public Functions

TVelCmdParams()

void loadConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string &section): Load any parameter required by a CVehicleVelCmd derived class.

void saveToConfigFile(mrpt::config::CConfigFileBase &c, const std::string &s) const

Public Members

double robotMax_V_mps = {-1.}: Max. linear speed (m/s) [Default=-1 (not set), will raise exception if needed and not set]

double robotMax_W_radps = {-1.}: Max. angular speed (rad/s) [Default=-1 (not set), will raise exception if needed and not set]

double robotMinCurvRadius = {-1.}: Min. radius of curvature of paths (m) [Default=-1 (not set), will raise exception if needed and not set]