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<li><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li><a class="el" href="namespacemrpt_1_1reactivenav.html">reactivenav</a> </li>
<li><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g6.html">CPTG6</a> </li>
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<div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pro-attribs">Protected Attributes</a> </div>
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<h1>mrpt::reactivenav::CPTG6 Class Reference</h1> </div>
</div>
<div class="contents">
<!-- doxytag: class="mrpt::reactivenav::CPTG6" --><!-- doxytag: inherits="mrpt::reactivenav::CParameterizedTrajectoryGenerator" --><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_g6_8h_source.html#l00039">39</a> of file <a class="el" href="_c_p_t_g6_8h_source.html">CPTG6.h</a>.</p>
<p><code>#include <<a class="el" href="_c_p_t_g6_8h_source.html">mrpt/reactivenav/CPTG6.h</a>></code></p>
<!-- startSectionHeader --><div class="dynheader">
Inheritance diagram for mrpt::reactivenav::CPTG6:<!-- endSectionHeader --></div>
<!-- startSectionSummary --><!-- endSectionSummary --><!-- startSectionContent --><div class="dyncontent">
<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_p_t_g6__inherit__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_p_t_g6_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1reactivenav_1_1_c_p_t_g6_inherit__map" id="mrpt_1_1reactivenav_1_1_c_p_t_g6_inherit__map">
</map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center><!-- endSectionContent --></div>
<p><a href="classmrpt_1_1reactivenav_1_1_c_p_t_g6-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
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_g6.html#ae875719c38e71564027a434d0ec132ea">CPTG6</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="#ae875719c38e71564027a434d0ec132ea"></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_g6.html#a2d32ff55d3a684594229df6e9a4e39fb">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="#a2d32ff55d3a684594229df6e9a4e39fb"></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_g6.html#a7bb98d964a30743cd70fc6c88dc5bbda">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="#a7bb98d964a30743cd70fc6c88dc5bbda"></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_g6.html#a6707f0d557545738415cc438ae4fe4cc">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="#a6707f0d557545738415cc438ae4fe4cc"></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_g6.html#a23cd212fa14f082df2f6a1afb67c39de">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="#a23cd212fa14f082df2f6a1afb67c39de"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
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_g6.html#a39beff3fa38a5a5e70a9c9ee280be23b">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_g6.html#adbab55367d90e1c8ca1e44fe3cfdda03">cte_a0w</a></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ae875719c38e71564027a434d0ec132ea"></a><!-- doxytag: member="mrpt::reactivenav::CPTG6::CPTG6" ref="ae875719c38e71564027a434d0ec132ea" args="(const TParameters< double > &params)" -->
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<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::reactivenav::CPTG6::CPTG6 </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>
</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="a7bb98d964a30743cd70fc6c88dc5bbda"></a><!-- doxytag: member="mrpt::reactivenav::CPTG6::getDescription" ref="a7bb98d964a30743cd70fc6c88dc5bbda" args="()" -->
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<td class="memname">std::string mrpt::reactivenav::CPTG6::getDescription </td>
<td>(</td>
<td class="paramname"> )</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="a2d32ff55d3a684594229df6e9a4e39fb"></a><!-- doxytag: member="mrpt::reactivenav::CPTG6::lambdaFunction" ref="a2d32ff55d3a684594229df6e9a4e39fb" args="(float x, float y, int &out_k, float &out_d)" -->
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<td class="memname">void mrpt::reactivenav::CPTG6::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>
</tr>
<tr>
<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="a23cd212fa14f082df2f6a1afb67c39de"></a><!-- doxytag: member="mrpt::reactivenav::CPTG6::PTG_Generator" ref="a23cd212fa14f082df2f6a1afb67c39de" 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::CPTG6::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>
</tr>
<tr>
<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="a6707f0d557545738415cc438ae4fe4cc"></a><!-- doxytag: member="mrpt::reactivenav::CPTG6::PTG_IsIntoDomain" ref="a6707f0d557545738415cc438ae4fe4cc" args="(float x, float y)" -->
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<div class="memproto">
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<td class="memname">bool mrpt::reactivenav::CPTG6::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>
</tr>
<tr>
<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="a39beff3fa38a5a5e70a9c9ee280be23b"></a><!-- doxytag: member="mrpt::reactivenav::CPTG6::cte_a0v" ref="a39beff3fa38a5a5e70a9c9ee280be23b" args="" -->
<div class="memitem">
<div class="memproto">
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<tr>
<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g6.html#a39beff3fa38a5a5e70a9c9ee280be23b">mrpt::reactivenav::CPTG6::cte_a0v</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_p_t_g6_8h_source.html#l00059">59</a> of file <a class="el" href="_c_p_t_g6_8h_source.html">CPTG6.h</a>.</p>
</div>
</div>
<a class="anchor" id="adbab55367d90e1c8ca1e44fe3cfdda03"></a><!-- doxytag: member="mrpt::reactivenav::CPTG6::cte_a0w" ref="adbab55367d90e1c8ca1e44fe3cfdda03" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g6.html#adbab55367d90e1c8ca1e44fe3cfdda03">mrpt::reactivenav::CPTG6::cte_a0w</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_p_t_g6_8h_source.html#l00060">60</a> of file <a class="el" href="_c_p_t_g6_8h_source.html">CPTG6.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.2</a> for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
