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CPTG6.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CPTG6_H
10#define CPTG6_H
11
13
14namespace mrpt
15{
16 namespace nav
17 {
18 /** A variation of the alpha-PTG (with fixed parameters, for now)
19 * \ingroup nav_tpspace
20 */
22 {
23 public:
24 /** Constructor (this PTG has no parameters)
25 */
27
28 /** Gets a short textual description of the PTG and its parameters.
29 */
30 std::string getDescription() const;
31
32 bool PTG_IsIntoDomain( float x, float y );
33
34 void PTG_Generator( float alpha, float t,float x, float y, float phi, float &v, float &w );
35 protected:
36
37 };
38 }
39}
40
41
42#endif
43
A variation of the alpha-PTG (with fixed parameters, for now)
Definition CPTG6.h:22
bool PTG_IsIntoDomain(float x, float y)
To be implemented in derived classes.
std::string getDescription() const
Gets a short textual description of the PTG and its parameters.
CPTG6(const mrpt::utils::TParameters< double > &params)
Constructor (this PTG has no parameters)
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.
This is the base class for any user-defined PTG.
EIGEN_STRONG_INLINE const AdjointReturnType t() const
Transpose.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
For usage when passing a dynamic number of (numeric) arguments to a function, by name.
Definition TParameters.h:47



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