MRPT logo

mrpt::reactivenav::CReactiveNavigationSystem::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


Detailed Description

For taken the dynamics of the robot into account.

Definition at line 341 of file CReactiveNavigationSystem.h.


Member Function Documentation

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.


Member Data Documentation

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.




Page generated by Doxygen 1.5.8 for MRPT 0.6.5 SVN: at Sun Aug 9 21:47:23 CEST 2009