37 double getVelCmdElement(const
int index) const MRPT_OVERRIDE;
38 void setVelCmdElement(const
int index, const
double val) MRPT_OVERRIDE;
39 bool isStopCmd() const MRPT_OVERRIDE;
40 void setToStop() MRPT_OVERRIDE;
43 void cmdVel_scale(
double vel_scale) MRPT_OVERRIDE;
44 double cmdVel_limits(const
mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const
double beta, const
TVelCmdParams ¶ms) MRPT_OVERRIDE;
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Virtual base for velocity commands of different kinematic models of planar mobile robot...
double ramp_time
: Blending time between current and target time.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
double dir_local
: direction, relative to the current robot heading (radians). 0 means forward.
#define KINEMATICS_IMPEXP
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Parameters that may be used by cmdVel_limits() in any derived classes.
double rot_speed
: (rad/s) rotational speed for rotating such as the robot slowly faces forward.