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51 virtual bool inverseMap_WS2TP(
float x,
float y,
int &out_k,
float &out_d,
float tolerance_dist = 0.10f)
const;
58 void PTG_Generator(
float alpha,
float t,
float x,
float y,
float phi,
float &v,
float &w );
A PTG for circular paths ("C" type PTG in papers).
bool PTG_IsIntoDomain(float x, float y)
To be implemented in derived classes.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
float K
A generation parameter.
void PTG_Generator(float alpha, float t, float x, float y, float phi, float &v, float &w)
The main method to be implemented in derived classes.
EIGEN_STRONG_INLINE const AdjointReturnType t() const
Transpose.
virtual bool inverseMap_WS2TP(float x, float y, int &out_k, float &out_d, float tolerance_dist=0.10f) const
Computes the closest (alpha,d) TP coordinates of the trajectory point closest to the Workspace (WS) C...
CPTG1(const mrpt::utils::TParameters< double > ¶ms)
Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
For usage when passing a dynamic number of (numeric) arguments to a function, by name.
std::string getDescription() const
Gets a short textual description of the PTG and its parameters.
This is the base class for any user-defined PTG.
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