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 |
Definition at line 341 of file CReactiveNavigationSystem.h.
void mrpt::reactivenav::CReactiveNavigationSystem::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::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::CReactiveNavigationSystem::CDynamicWindow::findMinMaxCurvatures | ( | float & | minCurv, | |
float & | maxCurv | |||
) |
Finds the max/min curvatures in the DW.
float mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem::CDynamicWindow::c1 [private] |
Definition at line 348 of file CReactiveNavigationSystem.h.
float mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem::CDynamicWindow::c2 [private] |
Definition at line 348 of file CReactiveNavigationSystem.h.
float mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem::CDynamicWindow::c3 [private] |
Definition at line 348 of file CReactiveNavigationSystem.h.
float mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem::CDynamicWindow::c4 [private] |
Definition at line 348 of file CReactiveNavigationSystem.h.
float mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem::CDynamicWindow::v_max |
Definition at line 344 of file CReactiveNavigationSystem.h.
float mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem::CDynamicWindow::v_min |
Definition at line 344 of file CReactiveNavigationSystem.h.
float mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem::CDynamicWindow::w_max |
Definition at line 345 of file CReactiveNavigationSystem.h.
float mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem::CDynamicWindow::w_min |
Definition at line 345 of file CReactiveNavigationSystem.h.
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