<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>The MRPT project: CPTG7.h Source File</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.6.2-20100208 --> <script type="text/javascript"><!-- var searchBox = new SearchBox("searchBox", "search",false,'Search'); --></script> <div class="navigation" id="top"> <div class="tabs"> <ul> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> <li><a href="annotated.html"><span>Classes</span></a></li> <li class="current"><a href="files.html"><span>Files</span></a></li> <li> <div id="MSearchBox" class="MSearchBoxInactive"> <img id="MSearchSelect" src="search/search.png" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" alt=""/> <input type="text" id="MSearchField" value="Search" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)" onkeyup="searchBox.OnSearchFieldChange(event)"/> <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a> </div> </li> </ul> </div> <div class="tabs"> <ul> <li><a href="files.html"><span>File List</span></a></li> <li><a href="globals.html"><span>File Members</span></a></li> </ul> </div> <h1>CPTG7.h</h1><a href="_c_p_t_g7_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span> <a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span> <a name="l00003"></a>00003 <span class="comment"> | |</span> <a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span> <a name="l00005"></a>00005 <span class="comment"> | |</span> <a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span> <a name="l00007"></a>00007 <span class="comment"> | |</span> <a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span> <a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span> <a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span> <a name="l00011"></a>00011 <span class="comment"> | |</span> <a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span> <a name="l00013"></a>00013 <span class="comment"> | |</span> <a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span> <a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span> <a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span> <a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span> <a name="l00018"></a>00018 <span class="comment"> | |</span> <a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span> <a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span> <a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span> <a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span> <a name="l00023"></a>00023 <span class="comment"> | |</span> <a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span> <a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span> <a name="l00026"></a>00026 <span class="comment"> | |</span> <a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span> <a name="l00028"></a>00028 <span class="preprocessor">#ifndef CPTG7_H</span> <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPTG7_H</span> <a name="l00030"></a>00030 <span class="preprocessor"></span> <a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_parameterized_trajectory_generator_8h.html">mrpt/reactivenav/CParameterizedTrajectoryGenerator.h</a>></span> <a name="l00032"></a>00032 <a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt <a name="l00034"></a>00034 { <a name="l00035"></a>00035 <span class="keyword">namespace </span>reactivenav <a name="l00036"></a>00036 {<span class="comment"></span> <a name="l00037"></a>00037 <span class="comment"> /** A PTG for circular paths.</span> <a name="l00038"></a>00038 <span class="comment"> */</span> <a name="l00039"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html">00039</a> <span class="keyword">class </span><a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html" title="A PTG for circular paths.">CPTG7</a> : <span class="keyword">public</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html" title="This is the base class for any user defined PTG.">CParameterizedTrajectoryGenerator</a> <a name="l00040"></a>00040 { <a name="l00041"></a>00041 <span class="keyword">public</span>:<span class="comment"></span> <a name="l00042"></a>00042 <span class="comment"> /** Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:</span> <a name="l00043"></a>00043 <span class="comment"> * - cte_a0v, cte_a0w: Parameters of this PTG</span> <a name="l00044"></a>00044 <span class="comment"> */</span> <a name="l00045"></a>00045 <a class="code" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html" title="A PTG for circular paths.">CPTG7</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html" title="For usage when passing a dynamic number of (numeric) arguments to a function, by...">TParameters<double></a> &params ); <a name="l00046"></a>00046 <span class="comment"></span> <a name="l00047"></a>00047 <span class="comment"> /** The lambda function.</span> <a name="l00048"></a>00048 <span class="comment"> */</span> <a name="l00049"></a>00049 <span class="keywordtype">void</span> lambdaFunction( <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">int</span> &out_k, <span class="keywordtype">float</span> &out_d ); <a name="l00050"></a>00050 <span class="comment"></span> <a name="l00051"></a>00051 <span class="comment"> /** Gets a short textual description of the PTG and its parameters.</span> <a name="l00052"></a>00052 <span class="comment"> */</span> <a name="l00053"></a>00053 std::string getDescription(); <a name="l00054"></a>00054 <a name="l00055"></a>00055 <span class="keywordtype">bool</span> PTG_IsIntoDomain( <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y ); <a name="l00056"></a>00056 <a name="l00057"></a>00057 <span class="keywordtype">void</span> PTG_Generator( <span class="keywordtype">float</span> alfa, <span class="keywordtype">float</span> t,<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> phi, <span class="keywordtype">float</span> &v, <span class="keywordtype">float</span> &w ); <a name="l00058"></a>00058 <span class="keyword">protected</span>: <a name="l00059"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#a17376d8e61e0fe9600c76daa0b39510e">00059</a> <span class="keywordtype">float</span> cte_a0v; <a name="l00060"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#ada48fc33b6437f991cd1f6c47cf8ea01">00060</a> <span class="keywordtype">float</span> cte_a0w; <a name="l00061"></a>00061 <a name="l00062"></a>00062 <a name="l00063"></a>00063 }; <a name="l00064"></a>00064 } <a name="l00065"></a>00065 } <a name="l00066"></a>00066 <a name="l00067"></a>00067 <a name="l00068"></a>00068 <span class="preprocessor">#endif</span> <a name="l00069"></a>00069 <span class="preprocessor"></span> </pre></div></div> <!--- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" onkeydown="return searchBox.OnSearchSelectKey(event)"> <a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(8)"><span class="SelectionMark"> </span>Enumerator</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(9)"><span class="SelectionMark"> </span>Friends</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(10)"><span class="SelectionMark"> </span>Defines</a></div> <!-- iframe showing the search results (closed by default) --> <div id="MSearchResultsWindow"> <iframe src="" frameborder="0" name="MSearchResults" id="MSearchResults"> </iframe> </div> <br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.6.2-20100208</a> for MRPT 0.9.0 SVN: at Wed Jul 14 12:48:09 UTC 2010</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>