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<title>mrpt::reactivenav::CParameterizedTrajectoryGenerator Class Reference</title>
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<div class="title">mrpt::reactivenav::CParameterizedTrajectoryGenerator Class Reference<div class="ingroups"><a class="el" href="group__mrpt__reactivenav__grp.html">[mrpt-reactivenav]</a></div></div> </div>
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<!-- doxytag: class="mrpt::reactivenav::CParameterizedTrajectoryGenerator" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This is the base class for any user defined PTG. </p>
<p>The class factory interface in <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#adb5b71869058d8b2ca57e3da2661fdf0" title="The class factory for creating a PTG from a list of parameters "params".">CParameterizedTrajectoryGenerator::CreatePTG</a>.</p>
<p>Changes history:</p>
<ul>
<li>30/JUN/2004: Creation (JLBC)</li>
<li>16/SEP/2004: Totally redesigned.</li>
<li>15/SEP/2005: Totally rewritten again, for integration into MRPT Applications Repository.</li>
<li>19/JUL/2009: Simplified to use only STL data types, and created the class factory interface. </li>
</ul>
</div>
<p><code>#include <<a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">mrpt/reactivenav/CParameterizedTrajectoryGenerator.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::reactivenav::CParameterizedTrajectoryGenerator:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator__inherit__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_inherit__map" id="mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_inherit__map">
<area shape="rect" id="node3" href="classmrpt_1_1reactivenav_1_1_c_p_t_g1.html" title="A PTG for circular paths." alt="" coords="395,5,570,32"/><area shape="rect" id="node5" href="classmrpt_1_1reactivenav_1_1_c_p_t_g2.html" title="The alpha-PTG." alt="" coords="395,56,570,83"/><area shape="rect" id="node7" href="classmrpt_1_1reactivenav_1_1_c_p_t_g3.html" title="A PTG for optimal paths of type "C|C,S"." alt="" coords="395,107,570,133"/><area shape="rect" id="node9" href="classmrpt_1_1reactivenav_1_1_c_p_t_g4.html" title="A PTG for optimal paths of type "C|C"." alt="" coords="395,157,570,184"/><area shape="rect" id="node11" href="classmrpt_1_1reactivenav_1_1_c_p_t_g5.html" title="A PTG for optimal paths of type "C|C,S"." alt="" coords="395,208,570,235"/><area shape="rect" id="node13" href="classmrpt_1_1reactivenav_1_1_c_p_t_g6.html" title="A PTG for circular paths." alt="" coords="395,259,570,285"/><area shape="rect" id="node15" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html" title="A PTG for circular paths." alt="" coords="395,309,570,336"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html">CColisionGrid</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An internal class for storing the collision grid. <a href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_cell_for_lambda_function.html">TCellForLambdaFunction</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specifies the min/max values for "k" and "n", respectively. <a href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_cell_for_lambda_function.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_c_point.html">TCPoint</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The trajectories in the C-Space: <a href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_c_point.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1map.html">std::map</a>< uint16_t, float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a48d4d875517a397472db828e6bea38ca">TCollisionCell</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of all the pairs (alpha,distance) such as the robot collides at that cell. <a href="#a48d4d875517a397472db828e6bea38ca"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a3280c335541118fb4b1bf4154f2c0949">getDescription</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a short textual description of the PTG and its parameters. <a href="#a3280c335541118fb4b1bf4154f2c0949"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a2a7afe49dfcb8a3340b843f6bdf5f72d">~CParameterizedTrajectoryGenerator</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a2a7afe49dfcb8a3340b843f6bdf5f72d"></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_parameterized_trajectory_generator.html#af7b3a7341ad3a9f81700558ff0e69f32">simulateTrajectories</a> (uint16_t <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a93c882b3e3047e2d8df4f03aed1057f0">alfaValuesCount</a>, float max_time, float max_dist, unsigned int max_n, float diferencial_t, float min_dist, float *out_max_acc_v=NULL, float *out_max_acc_w=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The main method: solves the diferential equation to generate a family of parametrical trajectories. <a href="#af7b3a7341ad3a9f81700558ff0e69f32"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a0b5412b363f6c18387426ba4099d4891">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, see paper for info. <a href="#a0b5412b363f6c18387426ba4099d4891"></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_parameterized_trajectory_generator.html#a39c8c0a4fd4c8e862aeba1654287855e">directionToMotionCommand</a> (uint16_t k, float &out_v, float &out_w)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Converts an "alfa" value (into the discrete set) into a feasible motion command. <a href="#a39c8c0a4fd4c8e862aeba1654287855e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a71e95f4d42a9771d379392f4cac12947">getAlfaValuesCount</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a26a4c2666b4345d7203f88b38a854454">getPointsCountInCPath_k</a> (uint16_t k)</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_parameterized_trajectory_generator.html#a732b47eb61b4291e2fe81d0f92726a0f">getCPointWhen_d_Is</a> (float d, uint16_t k, float &x, float &y, float &phi, float &t, float *v=NULL, float *w=NULL)</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_parameterized_trajectory_generator.html#ab17b04a36085eb472fcbb8ef148528b6">GetCPathPoint_x</a> (uint16_t k, int n)</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_parameterized_trajectory_generator.html#a092901b501efc98112f4737e857cbba9">GetCPathPoint_y</a> (uint16_t k, int n)</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_parameterized_trajectory_generator.html#acd8b438bb92e5b21a8fe228c59ea5df6">GetCPathPoint_phi</a> (uint16_t k, int n)</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_parameterized_trajectory_generator.html#aaf55d4a19f968e0710ff318498bfce39">GetCPathPoint_t</a> (uint16_t k, int n)</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_parameterized_trajectory_generator.html#a229ba0afce6a4e005228adc130a2197c">GetCPathPoint_d</a> (uint16_t k, int n)</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_parameterized_trajectory_generator.html#a5139279f831c0b30ca5eeada235d691f">GetCPathPoint_v</a> (uint16_t k, int n)</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_parameterized_trajectory_generator.html#a50cc7eaa65b057e2efc6344a09c34f97">GetCPathPoint_w</a> (uint16_t k, int n)</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_parameterized_trajectory_generator.html#ab4f34e8b1b35d878a6a7e5f0a9255af5">allocMemForVerticesData</a> (int <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a4b7dc3a1a7e49b347d6414f6ad85c61f">nVertices</a>)</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_parameterized_trajectory_generator.html#a21ecb7ae34ebd828aa4ae4954d59ce16">setVertex_xy</a> (uint16_t k, int n, int m, float x, float y)</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_parameterized_trajectory_generator.html#a50ff146948106f4c10329392a9b85f4e">getVertex_x</a> (uint16_t k, int n, int m)</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_parameterized_trajectory_generator.html#a4f917cf8549e5b2c17073833b773d830">getVertex_y</a> (uint16_t k, int n, int m)</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_parameterized_trajectory_generator.html#a5c7c9c437d930b2f9fde7468bce5d4bc">getVertixesArray_x</a> (uint16_t k, int n)</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_parameterized_trajectory_generator.html#ad29977f220ae555d7b8f9994fb773909">getVertixesArray_y</a> (uint16_t k, int n)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#afc616b84c59c36253e603ede780acccd">getVertixesCount</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_parameterized_trajectory_generator.html#a189f7f278b8a83d71a7216e5070f39c6">getMax_V</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_parameterized_trajectory_generator.html#a21909999a30c4ec9fed8cb9e34ece06b">getMax_W</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_parameterized_trajectory_generator.html#ad4a25d134e2ac1c73e40f7def3c38508">getMax_V_inTPSpace</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_parameterized_trajectory_generator.html#a0d4063ddc64623608ea5a92f645c0f85">index2alfa</a> (uint16_t k)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Alfa value for the discrete corresponding value. <a href="#a0d4063ddc64623608ea5a92f645c0f85"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a027adb265bd25b62bcbf19e8dbc892e5">alfa2index</a> (float alfa)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Discrete index value for the corresponding alfa value. <a href="#a027adb265bd25b62bcbf19e8dbc892e5"></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_parameterized_trajectory_generator.html#a0170a60d7dc1e612f5e7107099565f2f">debugDumpInFiles</a> (int nPT)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dump PTG trajectories in files in directory "./PTGs/". <a href="#a0170a60d7dc1e612f5e7107099565f2f"></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_parameterized_trajectory_generator.html#af2e9c29932b53cc590824588cc87ac59">SaveColGridsToFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filename)</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_parameterized_trajectory_generator.html#a771909e0bb478364f8a4beb7fb6c0170">LoadColGridsFromFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filename)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a125d010531c9716a87993ce40b65a3ad">PTG_Generator</a> (float alfa, float t, float x, float y, float phi, float &v, float &w)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The main method to be implemented in derived classes. <a href="#a125d010531c9716a87993ce40b65a3ad"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#adcb9c0415d7f89aa35eac19a57e985cd">PTG_IsIntoDomain</a> (float x, float y)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To be implemented in derived classes: <a href="#adcb9c0415d7f89aa35eac19a57e985cd"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <br class="typebreak"/>
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#adb5b71869058d8b2ca57e3da2661fdf0">CreatePTG</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">The class factory for creating a PTG from a list of parameters "params". <a href="#adb5b71869058d8b2ca57e3da2661fdf0"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html">CColisionGrid</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#aa4f22b89d1f03d4707763fe21ba25e85">m_collisionGrid</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The collision grid. <a href="#aa4f22b89d1f03d4707763fe21ba25e85"></a><br/></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_parameterized_trajectory_generator.html#ab7b257aaaad5f94ae2f7e19c929912c8">refDistance</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-types"></a>
Protected Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_c_point.html">TCPoint</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab1db66202f3d47bb6581677ec1a87a3f">TCPointVector</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected 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_parameterized_trajectory_generator.html#a414cfdc9422f8e275e78b150730d720a">CParameterizedTrajectoryGenerator</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": <a href="#a414cfdc9422f8e275e78b150730d720a"></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_parameterized_trajectory_generator.html#a225664e78bf99793fd99dd79a906c623">initializeCollisionsGrid</a> (float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab7b257aaaad5f94ae2f7e19c929912c8">refDistance</a>, float resolution)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialized the collision grid with the given size and resolution. <a href="#a225664e78bf99793fd99dd79a906c623"></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_parameterized_trajectory_generator.html#a726282c404ad9f84c431b2e9ee1693b6">FreeMemory</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Free all the memory buffers: <a href="#a726282c404ad9f84c431b2e9ee1693b6"></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_parameterized_trajectory_generator.html#aa2cea2f4f3edbed57683d1064e700065">V_MAX</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_parameterized_trajectory_generator.html#a0170c89e79de84adb90db056d902e1ff">W_MAX</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_parameterized_trajectory_generator.html#a20487a2b9fb862d1ae0ac1a0d86bcac3">TAU</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_parameterized_trajectory_generator.html#ae9f9822c42efb81c880bad8a107b975b">DELAY</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_parameterized_trajectory_generator.html#ac82ded4f32b6b9bc4282f4c6bfd2cea6">turningRadiusReference</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html">CDynamicGrid</a><br class="typebreak"/>
< <a class="el" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_cell_for_lambda_function.html">TCellForLambdaFunction</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a378cc1ecec2c3693cd8044d6ccc9fcef">m_lambdaFunctionOptimizer</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This grid will contain indexes data for speeding-up the default, brute-force lambda function. <a href="#a378cc1ecec2c3693cd8044d6ccc9fcef"></a><br/></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_parameterized_trajectory_generator.html#a3a898c60c8d00fae9dc8cd74b0e972b9">maxV_inTPSpace</a></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_parameterized_trajectory_generator.html#a05e0c8d255ffdd109f69f8fef97d5b2d">flag1</a></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_parameterized_trajectory_generator.html#ad4e488ec088620600c441833dae3a9cf">flag2</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a93c882b3e3047e2d8df4f03aed1057f0">alfaValuesCount</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The number of discrete values for ALFA between -PI and +PI. <a href="#a93c882b3e3047e2d8df4f03aed1057f0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab1db66202f3d47bb6581677ec1a87a3f">TCPointVector</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a8dfca215eee6f5c6fc62ba763f0c982b">CPoints</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a9ed46b23d456bd87a7cfd8ef1e5dea07">vertexPoints_x</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The shape of the robot along the trajectories: <a href="#a9ed46b23d456bd87a7cfd8ef1e5dea07"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a552d8dbc5970d8d128edbb725e0bce2c">vertexPoints_y</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a4b7dc3a1a7e49b347d6414f6ad85c61f">nVertices</a></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a48d4d875517a397472db828e6bea38ca"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::TCollisionCell" ref="a48d4d875517a397472db828e6bea38ca" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1map.html">std::map</a><uint16_t,float> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a48d4d875517a397472db828e6bea38ca">mrpt::reactivenav::CParameterizedTrajectoryGenerator::TCollisionCell</a></td>
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<p>A list of all the pairs (alpha,distance) such as the robot collides at that cell. </p>
<ul>
<li>map key (uint16_t) -> alpha value (k)<ul>
<li>map value (float) -> the MINIMUM distance (d), in meters, associated with that "k". </li>
</ul>
</li>
</ul>
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00185">185</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="ab1db66202f3d47bb6581677ec1a87a3f"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::TCPointVector" ref="ab1db66202f3d47bb6581677ec1a87a3f" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_c_point.html">TCPoint</a>> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab1db66202f3d47bb6581677ec1a87a3f">mrpt::reactivenav::CParameterizedTrajectoryGenerator::TCPointVector</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00290">290</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a414cfdc9422f8e275e78b150730d720a"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator" ref="a414cfdc9422f8e275e78b150730d720a" args="(const TParameters< double > &params)" -->
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<td class="memname">mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator </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><code> [protected]</code></td>
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<p>Constructor: possible values in "params": </p>
<ul>
<li>ref_distance: The maximum distance in PTGs</li>
<li>resolution: The cell size</li>
<li>v_max, w_max: Maximum robot speeds.</li>
<li>system_TAU, system_DELAY (Optional): Robot dynamics </li>
</ul>
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</div>
<a class="anchor" id="a2a7afe49dfcb8a3340b843f6bdf5f72d"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::~CParameterizedTrajectoryGenerator" ref="a2a7afe49dfcb8a3340b843f6bdf5f72d" args="()" -->
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<td class="memname">virtual mrpt::reactivenav::CParameterizedTrajectoryGenerator::~CParameterizedTrajectoryGenerator </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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<p>Destructor. </p>
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00084">84</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a027adb265bd25b62bcbf19e8dbc892e5"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::alfa2index" ref="a027adb265bd25b62bcbf19e8dbc892e5" args="(float alfa)" -->
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<td class="memname">uint16_t mrpt::reactivenav::CParameterizedTrajectoryGenerator::alfa2index </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>alfa</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Discrete index value for the corresponding alfa value. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a0d4063ddc64623608ea5a92f645c0f85" title="Alfa value for the discrete corresponding value.">index2alfa</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00170">170</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00383">M_PI</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00387">M_2PI</a>.</p>
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<a class="anchor" id="ab4f34e8b1b35d878a6a7e5f0a9255af5"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::allocMemForVerticesData" ref="ab4f34e8b1b35d878a6a7e5f0a9255af5" args="(int nVertices)" -->
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<td class="memname">void mrpt::reactivenav::CParameterizedTrajectoryGenerator::allocMemForVerticesData </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>nVertices</em></td><td>)</td>
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<a class="anchor" id="adb5b71869058d8b2ca57e3da2661fdf0"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CreatePTG" ref="adb5b71869058d8b2ca57e3da2661fdf0" args="(const TParameters< double > &params)" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a>* mrpt::reactivenav::CParameterizedTrajectoryGenerator::CreatePTG </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1utils_1_1_t_parameters.html">TParameters</a>< double > & </td>
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<td><code> [static]</code></td>
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<p>The class factory for creating a PTG from a list of parameters "params". </p>
<p>Possible values in "params" are:</p>
<ul>
<li>"PTG_type": It's an integer number such as "1" -> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g1.html" title="A PTG for circular paths.">CPTG1</a>, "2"-> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g2.html" title="The alpha-PTG.">CPTG2</a>, etc...</li>
<li>Those explained in <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a414cfdc9422f8e275e78b150730d720a" title="Constructor: possible values in "params":">CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator</a></li>
<li>Those explained in the specific PTG being created (e.g. <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g1.html" title="A PTG for circular paths.">CPTG1</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g2.html" title="The alpha-PTG.">CPTG2</a>, etc...)</li>
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<dl><dt><b>Exceptions:</b></dt><dd>
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<tr><td class="paramname"><a class="el" href="classstd_1_1logic__error.html" title="STL class.">std::logic_error</a></td><td>On invalid or missing parameters. </td></tr>
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<a class="anchor" id="a0170a60d7dc1e612f5e7107099565f2f"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::debugDumpInFiles" ref="a0170a60d7dc1e612f5e7107099565f2f" args="(int nPT)" -->
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<p>Dump PTG trajectories in files in directory "./PTGs/". </p>
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<a class="anchor" id="a39c8c0a4fd4c8e862aeba1654287855e"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::directionToMotionCommand" ref="a39c8c0a4fd4c8e862aeba1654287855e" args="(uint16_t k, float &out_v, float &out_w)" -->
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<p>Converts an "alfa" value (into the discrete set) into a feasible motion command. </p>
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<a class="anchor" id="a726282c404ad9f84c431b2e9ee1693b6"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::FreeMemory" ref="a726282c404ad9f84c431b2e9ee1693b6" args="()" -->
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<p>Free all the memory buffers: </p>
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<a class="anchor" id="a71e95f4d42a9771d379392f4cac12947"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getAlfaValuesCount" ref="a71e95f4d42a9771d379392f4cac12947" args="()" -->
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00106">106</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a229ba0afce6a4e005228adc130a2197c"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_d" ref="a229ba0afce6a4e005228adc130a2197c" args="(uint16_t k, int n)" -->
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00115">115</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="acd8b438bb92e5b21a8fe228c59ea5df6"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_phi" ref="acd8b438bb92e5b21a8fe228c59ea5df6" args="(uint16_t k, int n)" -->
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<td class="paramname"><em>k</em>, </td>
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<td class="paramname"><em>n</em> </td>
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<td>)</td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00113">113</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="aaf55d4a19f968e0710ff318498bfce39"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_t" ref="aaf55d4a19f968e0710ff318498bfce39" args="(uint16_t k, int n)" -->
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<td class="memname">float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_t </td>
<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00114">114</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a5139279f831c0b30ca5eeada235d691f"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_v" ref="a5139279f831c0b30ca5eeada235d691f" args="(uint16_t k, int n)" -->
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<td class="memname">float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_v </td>
<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00116">116</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a50cc7eaa65b057e2efc6344a09c34f97"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_w" ref="a50cc7eaa65b057e2efc6344a09c34f97" args="(uint16_t k, int n)" -->
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<td class="memname">float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_w </td>
<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00117">117</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="ab17b04a36085eb472fcbb8ef148528b6"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_x" ref="ab17b04a36085eb472fcbb8ef148528b6" args="(uint16_t k, int n)" -->
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<td class="memname">float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_x </td>
<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00111">111</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a092901b501efc98112f4737e857cbba9"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_y" ref="a092901b501efc98112f4737e857cbba9" args="(uint16_t k, int n)" -->
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<td class="memname">float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_y </td>
<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00112">112</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a732b47eb61b4291e2fe81d0f92726a0f"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getCPointWhen_d_Is" ref="a732b47eb61b4291e2fe81d0f92726a0f" args="(float d, uint16_t k, float &x, float &y, float &phi, float &t, float *v=NULL, float *w=NULL)" -->
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<td class="memname">void mrpt::reactivenav::CParameterizedTrajectoryGenerator::getCPointWhen_d_Is </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>d</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"><em>x</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"><em>y</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"><em>phi</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">float & </td>
<td class="paramname"><em>t</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>v</em> = <code>NULL</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>w</em> = <code>NULL</code> </td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<a class="anchor" id="a3280c335541118fb4b1bf4154f2c0949"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getDescription" ref="a3280c335541118fb4b1bf4154f2c0949" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classstd_1_1string.html">std::string</a> mrpt::reactivenav::CParameterizedTrajectoryGenerator::getDescription </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [pure virtual]</code></td>
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<p>Gets a short textual description of the PTG and its parameters. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g5.html#a23f876cfd742bc7645e8d0a9cf8f6022">mrpt::reactivenav::CPTG5</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g1.html#ad17c13579bf95e45e77a01c80367f5cf">mrpt::reactivenav::CPTG1</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g3.html#ab2711d2ac93ef495f6c9463ec20b82e0">mrpt::reactivenav::CPTG3</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g4.html#ab2cfc67ebc56c09a30fb0c2a2752a0c1">mrpt::reactivenav::CPTG4</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g2.html#abe540d248ff83a02e8a1a1b587a22214">mrpt::reactivenav::CPTG2</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g6.html#a6e41870747d9b0b12bf4b641cf622406">mrpt::reactivenav::CPTG6</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#a871a6b552e081c39345116b61adcfe72">mrpt::reactivenav::CPTG7</a>.</p>
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<a class="anchor" id="a189f7f278b8a83d71a7216e5070f39c6"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_V" ref="a189f7f278b8a83d71a7216e5070f39c6" args="()" -->
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<td class="memname">float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_V </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00155">155</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="ad4a25d134e2ac1c73e40f7def3c38508"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_V_inTPSpace" ref="ad4a25d134e2ac1c73e40f7def3c38508" args="()" -->
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<td class="memname">float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_V_inTPSpace </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00157">157</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a21909999a30c4ec9fed8cb9e34ece06b"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_W" ref="a21909999a30c4ec9fed8cb9e34ece06b" args="()" -->
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<td class="memname">float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_W </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00156">156</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a26a4c2666b4345d7203f88b38a854454"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getPointsCountInCPath_k" ref="a26a4c2666b4345d7203f88b38a854454" args="(uint16_t k)" -->
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<td class="memname">size_t mrpt::reactivenav::CParameterizedTrajectoryGenerator::getPointsCountInCPath_k </td>
<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00107">107</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a50ff146948106f4c10329392a9b85f4e"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertex_x" ref="a50ff146948106f4c10329392a9b85f4e" args="(uint16_t k, int n, int m)" -->
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<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>m</em> </td>
</tr>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00127">127</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a4f917cf8549e5b2c17073833b773d830"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertex_y" ref="a4f917cf8549e5b2c17073833b773d830" args="(uint16_t k, int n, int m)" -->
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<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>m</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00134">134</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a5c7c9c437d930b2f9fde7468bce5d4bc"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertixesArray_x" ref="a5c7c9c437d930b2f9fde7468bce5d4bc" args="(uint16_t k, int n)" -->
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<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
</tr>
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<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00141">141</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="ad29977f220ae555d7b8f9994fb773909"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertixesArray_y" ref="ad29977f220ae555d7b8f9994fb773909" args="(uint16_t k, int n)" -->
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<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00147">147</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="afc616b84c59c36253e603ede780acccd"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertixesCount" ref="afc616b84c59c36253e603ede780acccd" args="()" -->
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00153">153</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a0d4063ddc64623608ea5a92f645c0f85"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::index2alfa" ref="a0d4063ddc64623608ea5a92f645c0f85" args="(uint16_t k)" -->
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<td class="memname">float mrpt::reactivenav::CParameterizedTrajectoryGenerator::index2alfa </td>
<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Alfa value for the discrete corresponding value. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a027adb265bd25b62bcbf19e8dbc892e5" title="Discrete index value for the corresponding alfa value.">alfa2index</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00162">162</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00383">M_PI</a>.</p>
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</div>
<a class="anchor" id="a225664e78bf99793fd99dd79a906c623"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::initializeCollisionsGrid" ref="a225664e78bf99793fd99dd79a906c623" args="(float refDistance, float resolution)" -->
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<td class="memname">void mrpt::reactivenav::CParameterizedTrajectoryGenerator::initializeCollisionsGrid </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>refDistance</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>resolution</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected]</code></td>
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</table>
</div>
<div class="memdoc">
<p>Initialized the collision grid with the given size and resolution. </p>
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</div>
<a class="anchor" id="a0b5412b363f6c18387426ba4099d4891"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::lambdaFunction" ref="a0b5412b363f6c18387426ba4099d4891" args="(float x, float y, int &out_k, float &out_d)" -->
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<td class="memname">virtual void mrpt::reactivenav::CParameterizedTrajectoryGenerator::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>
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<div class="memdoc">
<p>The "lambda" function, see paper for info. </p>
<p>It takes the (a,d) pair that is closest to a given location. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g1.html#a5c71db959da9cda814798fb749e82f0e">mrpt::reactivenav::CPTG1</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g5.html#a0db9f190113b90863ff25456c51e2d5a">mrpt::reactivenav::CPTG5</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g3.html#aa1c34d0b066b271c85d710830ca3947e">mrpt::reactivenav::CPTG3</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g4.html#a0b993b5a79f256ddb72368cc86f4035f">mrpt::reactivenav::CPTG4</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g2.html#a27598256466338ced75c2854eabd67b2">mrpt::reactivenav::CPTG2</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g6.html#a2d32ff55d3a684594229df6e9a4e39fb">mrpt::reactivenav::CPTG6</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#a8fa12539b44da891908b5104d991d460">mrpt::reactivenav::CPTG7</a>.</p>
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<a class="anchor" id="a771909e0bb478364f8a4beb7fb6c0170"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::LoadColGridsFromFile" ref="a771909e0bb478364f8a4beb7fb6c0170" args="(const std::string &filename)" -->
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<td class="memname">bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::LoadColGridsFromFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>filename</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a125d010531c9716a87993ce40b65a3ad"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::PTG_Generator" ref="a125d010531c9716a87993ce40b65a3ad" args="(float alfa, float t, float x, float y, float phi, float &v, float &w)=0" -->
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<td class="memname">virtual void mrpt::reactivenav::CParameterizedTrajectoryGenerator::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> [pure virtual]</code></td>
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<div class="memdoc">
<p>The main method to be implemented in derived classes. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g5.html#a85ba81b1bed4d51b1f72ab3df1f1f5fa">mrpt::reactivenav::CPTG5</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g1.html#a05b82704f4881f184242f694fba44f7c">mrpt::reactivenav::CPTG1</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g3.html#a1c9d33ed852ae723000cdd55afb0ee9c">mrpt::reactivenav::CPTG3</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g4.html#a3b42182b7d9f95e3bc1fd0f488fdca24">mrpt::reactivenav::CPTG4</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g2.html#a5cdfbf02e36065810fa5ecee10352d81">mrpt::reactivenav::CPTG2</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g6.html#a23cd212fa14f082df2f6a1afb67c39de">mrpt::reactivenav::CPTG6</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#a9bd87b958a43debc68f21aff3beea770">mrpt::reactivenav::CPTG7</a>.</p>
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<a class="anchor" id="adcb9c0415d7f89aa35eac19a57e985cd"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain" ref="adcb9c0415d7f89aa35eac19a57e985cd" args="(float x, float y)=0" -->
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<td class="memname">virtual bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::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> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>To be implemented in derived classes: </p>
<p>Implemented in <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g1.html#a3162cd0dfd5a9f99d6688e73fdf9d698">mrpt::reactivenav::CPTG1</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g5.html#ade18d0a99c23d2a6d135588a17e72ffe">mrpt::reactivenav::CPTG5</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g3.html#ab96cc424c99f57fe8a9f0a954ea21115">mrpt::reactivenav::CPTG3</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g4.html#a28851cfb31791fe722e3d47ee7e7642e">mrpt::reactivenav::CPTG4</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g2.html#a79ebc2cf6f0f934bd3d1ab0f4611cc91">mrpt::reactivenav::CPTG2</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g6.html#a6707f0d557545738415cc438ae4fe4cc">mrpt::reactivenav::CPTG6</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#acd62b7199d7d041ac78506d4d83ae1d0">mrpt::reactivenav::CPTG7</a>.</p>
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<a class="anchor" id="af2e9c29932b53cc590824588cc87ac59"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::SaveColGridsToFile" ref="af2e9c29932b53cc590824588cc87ac59" args="(const std::string &filename)" -->
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<td class="memname">bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::SaveColGridsToFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>filename</em></td><td>)</td>
<td></td>
</tr>
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</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a21ecb7ae34ebd828aa4ae4954d59ce16"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::setVertex_xy" ref="a21ecb7ae34ebd828aa4ae4954d59ce16" args="(uint16_t k, int n, int m, float x, float y)" -->
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<td class="memname">void mrpt::reactivenav::CParameterizedTrajectoryGenerator::setVertex_xy </td>
<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>k</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>m</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></td>
<td>)</td>
<td></td><td><code> [inline]</code></td>
</tr>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00121">121</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
<p>References <a class="el" href="_core_source.html#l00604">Eigen::internal::y</a>.</p>
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<a class="anchor" id="af7b3a7341ad3a9f81700558ff0e69f32"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::simulateTrajectories" ref="af7b3a7341ad3a9f81700558ff0e69f32" args="(uint16_t alfaValuesCount, float max_time, float max_dist, unsigned int max_n, float diferencial_t, float min_dist, float *out_max_acc_v=NULL, float *out_max_acc_w=NULL)" -->
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<td class="memname">void mrpt::reactivenav::CParameterizedTrajectoryGenerator::simulateTrajectories </td>
<td>(</td>
<td class="paramtype">uint16_t </td>
<td class="paramname"><em>alfaValuesCount</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>max_time</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>max_dist</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>max_n</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>diferencial_t</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>min_dist</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>out_max_acc_v</em> = <code>NULL</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>out_max_acc_w</em> = <code>NULL</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<div class="memdoc">
<p>The main method: solves the diferential equation to generate a family of parametrical trajectories. </p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a93c882b3e3047e2d8df4f03aed1057f0"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::alfaValuesCount" ref="a93c882b3e3047e2d8df4f03aed1057f0" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a93c882b3e3047e2d8df4f03aed1057f0">mrpt::reactivenav::CParameterizedTrajectoryGenerator::alfaValuesCount</a><code> [protected]</code></td>
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<p>The number of discrete values for ALFA between -PI and +PI. </p>
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00265">265</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a8dfca215eee6f5c6fc62ba763f0c982b"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CPoints" ref="a8dfca215eee6f5c6fc62ba763f0c982b" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab1db66202f3d47bb6581677ec1a87a3f">TCPointVector</a>> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a8dfca215eee6f5c6fc62ba763f0c982b">mrpt::reactivenav::CParameterizedTrajectoryGenerator::CPoints</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00291">291</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="ae9f9822c42efb81c880bad8a107b975b"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::DELAY" ref="ae9f9822c42efb81c880bad8a107b975b" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ae9f9822c42efb81c880bad8a107b975b">mrpt::reactivenav::CParameterizedTrajectoryGenerator::DELAY</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00237">237</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a05e0c8d255ffdd109f69f8fef97d5b2d"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::flag1" ref="a05e0c8d255ffdd109f69f8fef97d5b2d" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a05e0c8d255ffdd109f69f8fef97d5b2d">mrpt::reactivenav::CParameterizedTrajectoryGenerator::flag1</a><code> [protected]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00261">261</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="ad4e488ec088620600c441833dae3a9cf"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::flag2" ref="ad4e488ec088620600c441833dae3a9cf" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ad4e488ec088620600c441833dae3a9cf">mrpt::reactivenav::CParameterizedTrajectoryGenerator::flag2</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00261">261</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="aa4f22b89d1f03d4707763fe21ba25e85"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::m_collisionGrid" ref="aa4f22b89d1f03d4707763fe21ba25e85" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html">CColisionGrid</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#aa4f22b89d1f03d4707763fe21ba25e85">mrpt::reactivenav::CParameterizedTrajectoryGenerator::m_collisionGrid</a></td>
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<p>The collision grid. </p>
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00217">217</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a378cc1ecec2c3693cd8044d6ccc9fcef"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::m_lambdaFunctionOptimizer" ref="a378cc1ecec2c3693cd8044d6ccc9fcef" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html">CDynamicGrid</a><<a class="el" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_cell_for_lambda_function.html">TCellForLambdaFunction</a>> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a378cc1ecec2c3693cd8044d6ccc9fcef">mrpt::reactivenav::CParameterizedTrajectoryGenerator::m_lambdaFunctionOptimizer</a><code> [protected]</code></td>
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<p>This grid will contain indexes data for speeding-up the default, brute-force lambda function. </p>
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00256">256</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00259">259</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00296">296</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00224">224</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00237">237</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00239">239</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="aa2cea2f4f3edbed57683d1064e700065"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::V_MAX" ref="aa2cea2f4f3edbed57683d1064e700065" args="" -->
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00236">236</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<a class="anchor" id="a9ed46b23d456bd87a7cfd8ef1e5dea07"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::vertexPoints_x" ref="a9ed46b23d456bd87a7cfd8ef1e5dea07" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a>> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a9ed46b23d456bd87a7cfd8ef1e5dea07">mrpt::reactivenav::CParameterizedTrajectoryGenerator::vertexPoints_x</a><code> [protected]</code></td>
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<p>The shape of the robot along the trajectories: </p>
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00295">295</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a>> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a552d8dbc5970d8d128edbb725e0bce2c">mrpt::reactivenav::CParameterizedTrajectoryGenerator::vertexPoints_y</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00295">295</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a0170c89e79de84adb90db056d902e1ff">mrpt::reactivenav::CParameterizedTrajectoryGenerator::W_MAX</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00236">236</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.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 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
