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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1reactivenav.html">reactivenav</a>::<a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html">CPTG7</a>
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<h1>mrpt::reactivenav::CPTG7 Class Reference</h1><!-- doxytag: class="mrpt::reactivenav::CPTG7" --><!-- doxytag: inherits="mrpt::reactivenav::CParameterizedTrajectoryGenerator" -->
<p>A PTG for circular paths.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_p_t_g7_8h_source.html">mrpt/reactivenav/CPTG7.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::reactivenav::CPTG7:</div>
<div class="dynsection">
<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_p_t_g7__inherit__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_p_t_g7_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1reactivenav_1_1_c_p_t_g7_inherit__map" id="mrpt_1_1reactivenav_1_1_c_p_t_g7_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html" title="This is the base class for any user defined PTG." alt="" coords="5,5,344,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<div class="dynheader">
Collaboration diagram for mrpt::reactivenav::CPTG7:</div>
<div class="dynsection">
<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_p_t_g7__coll__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_p_t_g7_coll__map" alt="Collaboration graph"/></div>
<map name="mrpt_1_1reactivenav_1_1_c_p_t_g7_coll__map" id="mrpt_1_1reactivenav_1_1_c_p_t_g7_coll__map">
<area shape="rect" id="node2" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html" title="This is the base class for any user defined PTG." alt="" coords="2391,112,2729,141"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html" title="mrpt::utils::CDynamicGrid\< TCellForLambdaFunction \>" alt="" coords="1787,8,2131,37"/><area shape="rect" id="node8" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_cell_for_lambda_function.html" title="Specifies the min/max values for "k" and "n", respectively." alt="" coords="471,8,964,37"/><area shape="rect" id="node12" href="structmrpt_1_1mrpt__base__vector.html" title="Numeric vectors compatible with mrpt/math/ops_containers.h:." alt="" coords="989,85,1216,115"/><area shape="rect" id="node14" title="STL class." alt="" coords="295,87,444,116"/><area shape="rect" id="node20" title="STL class." alt="" coords="151,140,265,169"/><area shape="rect" id="node29" title="STL class." alt="" coords="147,195,269,224"/><area shape="rect" id="node23" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html" title="An internal class for storing the collision grid." alt="" coords="1744,195,2173,224"/><area shape="rect" id="node25" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html" title="mrpt::utils::CDynamicGrid\< TCollisionCell \>" alt="" coords="1241,195,1519,224"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1reactivenav_1_1_c_p_t_g7-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#a25128bf2f439c5b87903529411bfb962">CPTG7</a> (const <a class="el" href="structmrpt_1_1utils_1_1_t_parameters.html">TParameters</a>< double > &params)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor: possible values in "params", those of <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html" title="This is the base class for any user defined PTG.">CParameterizedTrajectoryGenerator</a> plus:</p>
<ul>
<li>cte_a0v, cte_a0w: Parameters of this PTG. </li>
</ul>
<a href="#a25128bf2f439c5b87903529411bfb962"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#a8fa12539b44da891908b5104d991d460">lambdaFunction</a> (float x, float y, int &out_k, float &out_d)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The lambda function. <a href="#a8fa12539b44da891908b5104d991d460"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#a6d2df15d5675891bf2b2de050b66a6fa">getDescription</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a short textual description of the PTG and its parameters. <a href="#a6d2df15d5675891bf2b2de050b66a6fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#acd62b7199d7d041ac78506d4d83ae1d0">PTG_IsIntoDomain</a> (float x, float y)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To be implemented in derived classes:. <a href="#acd62b7199d7d041ac78506d4d83ae1d0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#a9bd87b958a43debc68f21aff3beea770">PTG_Generator</a> (float alfa, float t, float x, float y, float phi, float &v, float &w)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The main method to be implemented in derived classes. <a href="#a9bd87b958a43debc68f21aff3beea770"></a><br/></td></tr>
<tr><td colspan="2"><h2>Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#a17376d8e61e0fe9600c76daa0b39510e">cte_a0v</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#ada48fc33b6437f991cd1f6c47cf8ea01">cte_a0w</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A PTG for circular paths. </p>
<p>Definition at line <a class="el" href="_c_p_t_g7_8h_source.html#l00039">39</a> of file <a class="el" href="_c_p_t_g7_8h_source.html">CPTG7.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a25128bf2f439c5b87903529411bfb962"></a><!-- doxytag: member="mrpt::reactivenav::CPTG7::CPTG7" ref="a25128bf2f439c5b87903529411bfb962" args="(const TParameters< double > &params)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::reactivenav::CPTG7::CPTG7 </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1utils_1_1_t_parameters.html">TParameters</a>< double > & </td>
<td class="paramname"> <em>params</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Constructor: possible values in "params", those of <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html" title="This is the base class for any user defined PTG.">CParameterizedTrajectoryGenerator</a> plus:</p>
<ul>
<li>cte_a0v, cte_a0w: Parameters of this PTG. </li>
</ul>
</p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a6d2df15d5675891bf2b2de050b66a6fa"></a><!-- doxytag: member="mrpt::reactivenav::CPTG7::getDescription" ref="a6d2df15d5675891bf2b2de050b66a6fa" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">std::string mrpt::reactivenav::CPTG7::getDescription </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Gets a short textual description of the PTG and its parameters. </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ad1b1ffe8335d1f2570731d0f2b237c46">mrpt::reactivenav::CParameterizedTrajectoryGenerator</a>.</p>
</div>
</div>
<a class="anchor" id="a8fa12539b44da891908b5104d991d460"></a><!-- doxytag: member="mrpt::reactivenav::CPTG7::lambdaFunction" ref="a8fa12539b44da891908b5104d991d460" args="(float x, float y, int &out_k, float &out_d)" -->
<div class="memitem">
<div class="memproto">
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<td class="memname">void mrpt::reactivenav::CPTG7::lambdaFunction </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int & </td>
<td class="paramname"> <em>out_k</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"> <em>out_d</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The lambda function. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a0b5412b363f6c18387426ba4099d4891">mrpt::reactivenav::CParameterizedTrajectoryGenerator</a>.</p>
</div>
</div>
<a class="anchor" id="a9bd87b958a43debc68f21aff3beea770"></a><!-- doxytag: member="mrpt::reactivenav::CPTG7::PTG_Generator" ref="a9bd87b958a43debc68f21aff3beea770" args="(float alfa, float t, float x, float y, float phi, float &v, float &w)" -->
<div class="memitem">
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<td class="memname">void mrpt::reactivenav::CPTG7::PTG_Generator </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"> <em>alfa</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>t</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>phi</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"> <em>v</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"> <em>w</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The main method to be implemented in derived classes. </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a125d010531c9716a87993ce40b65a3ad">mrpt::reactivenav::CParameterizedTrajectoryGenerator</a>.</p>
</div>
</div>
<a class="anchor" id="acd62b7199d7d041ac78506d4d83ae1d0"></a><!-- doxytag: member="mrpt::reactivenav::CPTG7::PTG_IsIntoDomain" ref="acd62b7199d7d041ac78506d4d83ae1d0" args="(float x, float y)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">bool mrpt::reactivenav::CPTG7::PTG_IsIntoDomain </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>To be implemented in derived classes:. </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#adcb9c0415d7f89aa35eac19a57e985cd">mrpt::reactivenav::CParameterizedTrajectoryGenerator</a>.</p>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a17376d8e61e0fe9600c76daa0b39510e"></a><!-- doxytag: member="mrpt::reactivenav::CPTG7::cte_a0v" ref="a17376d8e61e0fe9600c76daa0b39510e" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#a17376d8e61e0fe9600c76daa0b39510e">mrpt::reactivenav::CPTG7::cte_a0v</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_p_t_g7_8h_source.html#l00059">59</a> of file <a class="el" href="_c_p_t_g7_8h_source.html">CPTG7.h</a>.</p>
</div>
</div>
<a class="anchor" id="ada48fc33b6437f991cd1f6c47cf8ea01"></a><!-- doxytag: member="mrpt::reactivenav::CPTG7::cte_a0w" ref="ada48fc33b6437f991cd1f6c47cf8ea01" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#ada48fc33b6437f991cd1f6c47cf8ea01">mrpt::reactivenav::CPTG7::cte_a0w</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_p_t_g7_8h_source.html#l00060">60</a> of file <a class="el" href="_c_p_t_g7_8h_source.html">CPTG7.h</a>.</p>
</div>
</div>
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