mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow Class Reference

For taken the dynamics of the robot into account. More...

List of all members.

Public Member Functions
void	findMinMaxCurvatures (float &minCurv, float &maxCurv)
	Finds the max/min curvatures in the DW.
void	findBestApproximation (float desV, float desW, float &outV, float &outW)
	Returns the corner which is closer (in curvature, and abs.
Public Attributes
float	v_max
float	v_min
float	w_max
float	w_min
Private Member Functions
bool	findClosestCut (float cmd_v, float cmd_w, float &out_v, float &out_w)
	Find the closest cut of a line with the DW.
Private Attributes
float	c1
float	c2
float	c3
float	c4

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Detailed Description

For taken the dynamics of the robot into account.

Definition at line 322 of file CReactiveNavigationSystem.h.

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Member Function Documentation

void mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::findBestApproximation	(	float	desV,
		float	desW,
		float &	outV,
		float &	outW
	)

Returns the corner which is closer (in curvature, and abs.

values) to the desired command.

bool mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::findClosestCut	(	float	cmd_v,
		float	cmd_w,
		float &	out_v,
		float &	out_w
	)			[private]

Find the closest cut of a line with the DW.

void mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::findMinMaxCurvatures	(	float &	minCurv,
		float &	maxCurv
	)

Finds the max/min curvatures in the DW.

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Member Data Documentation

float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::c1 [private]

Definition at line 329 of file CReactiveNavigationSystem.h.

float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::c2 [private]

Definition at line 329 of file CReactiveNavigationSystem.h.

float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::c3 [private]

Definition at line 329 of file CReactiveNavigationSystem.h.

float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::c4 [private]

Definition at line 329 of file CReactiveNavigationSystem.h.

float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::v_max

Definition at line 325 of file CReactiveNavigationSystem.h.

float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::v_min

Definition at line 325 of file CReactiveNavigationSystem.h.

float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::w_max

Definition at line 326 of file CReactiveNavigationSystem.h.

float mrpt::reactivenav::CReactiveNavigationSystem::CDynamicWindow::w_min

Definition at line 326 of file CReactiveNavigationSystem.h.