mrpt::reactivenav::CPTG2 Class Reference

The alpha-PTG. More...

#include <mrpt/reactivenav/CPTG2.h>

Inheritance diagram for mrpt::reactivenav::CPTG2:

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Collaboration diagram for mrpt::reactivenav::CPTG2:

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List of all members.

Public Member Functions
	CPTG2 (const TParameters< double > &params)
	Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus: cte_a0v, cte_a0w: Parameters of this PTG.
void	lambdaFunction (float x, float y, int &out_k, float &out_d)
	The lambda function.
std::string	getDescription ()
	Gets a short textual description of the PTG and its parameters.
bool	PTG_IsIntoDomain (float x, float y)
	To be implemented in derived classes:.
void	PTG_Generator (float alfa, float t, float x, float y, float phi, float &v, float &w)
	The main method to be implemented in derived classes.
Protected Attributes
float	cte_a0v
float	cte_a0w

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Detailed Description

The alpha-PTG.

Definition at line 39 of file CPTG2.h.

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Constructor & Destructor Documentation

mrpt::reactivenav::CPTG2::CPTG2

(

const TParameters< double > &

params

)

Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:

• cte_a0v, cte_a0w: Parameters of this PTG.

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Member Function Documentation

std::string mrpt::reactivenav::CPTG2::getDescription

(

)

[virtual]

Gets a short textual description of the PTG and its parameters.

Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.

void mrpt::reactivenav::CPTG2::lambdaFunction	(	float	x,
		float	y,
		int &	out_k,
		float &	out_d
	)			[virtual]

The lambda function.

Reimplemented from mrpt::reactivenav::CParameterizedTrajectoryGenerator.

void mrpt::reactivenav::CPTG2::PTG_Generator	(	float	alfa,
		float	t,
		float	x,
		float	y,
		float	phi,
		float &	v,
		float &	w
	)			[virtual]

The main method to be implemented in derived classes.

Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.

bool mrpt::reactivenav::CPTG2::PTG_IsIntoDomain	(	float	x,
		float	y
	)			[virtual]

To be implemented in derived classes:.

Implements mrpt::reactivenav::CParameterizedTrajectoryGenerator.

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Member Data Documentation

float mrpt::reactivenav::CPTG2::cte_a0v [protected]

Definition at line 59 of file CPTG2.h.

float mrpt::reactivenav::CPTG2::cte_a0w [protected]

Definition at line 60 of file CPTG2.h.