Class CVehicleVelCmd_Holo

Defined in File CVehicleVelCmd_Holo.h

Inheritance Relationships

Base Type

public mrpt::kinematics::CVehicleVelCmd (Class CVehicleVelCmd)

Class Documentation

class CVehicleVelCmd_Holo : public mrpt::kinematics::CVehicleVelCmd 

Kinematic model for

Public Functions

CVehicleVelCmd_Holo()

CVehicleVelCmd_Holo(double vel, double dir_local, double ramp_time, double rot_speed)

~CVehicleVelCmd_Holo() override

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

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

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

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

virtual bool isStopCmd() const override

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

See also

isStopCmd

virtual void cmdVel_scale(double vel_scale) override

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) override

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.

Public Members

double vel = {.0}: speed(m / s)

double dir_local = {.0}: : direction, relative to the current robot heading (radians). 0 means forward.

double ramp_time = {.0}: : Blending time between current and target time.

double rot_speed = {.0}: : (rad/s) rotational speed for rotating such as the robot slowly faces forward.