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23 const int index)
const
54 const int index,
const double val)
107 const auto* prevcmd =
110 ASSERTMSG_(prevcmd,
"Expected prevcmd of type `CVehicleVelCmd_DiffDriven`");
137 double speed_scale = 1.0;
std::string getVelCmdDescription(const int index) const override
Get textual, human-readable description of each velocity command component.
size_t getVelCmdLength() const override
Get number of components in each velocity command.
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams ¶ms) override
See base class docs.
Parameters that may be used by cmdVel_limits() in any derived classes.
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
mrpt::vision::TStereoCalibResults out
double ang_vel
Angular velocity (rad/s)
#define THROW_EXCEPTION_FMT(_FORMAT_STRING,...)
~CVehicleVelCmd_DiffDriven() override
double filter_max_vw(double &v, double &w, const TVelCmdParams &p)
void setToStop() override
Set to a command that means "do not move" / "stop".
#define ASSERT_(f)
Defines an assertion mechanism.
void setVelCmdElement(const int index, const double val) override
Set each velocity command component.
Virtual base class for "archives": classes abstracting I/O streams.
double robotMax_W_radps
Max.
mrpt::vision::TStereoCalibParams params
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
To be added to all CSerializable-classes implementation files.
#define ASSERTMSG_(f, __ERROR_MSG)
Defines an assertion mechanism.
double robotMax_V_mps
Max.
void cmdVel_scale(double vel_scale) override
See docs of method in base class.
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
double lin_vel
Linear velocity (m/s)
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
Virtual base for velocity commands of different kinematic models of planar mobile robot.
Kinematic model for Ackermann-like or differential-driven vehicles.
bool isStopCmd() const override
Returns true if the command means "do not move" / "stop".
double getVelCmdElement(const int index) const override
Get each velocity command component.
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