34 double getVelCmdElement(const
int index) const MRPT_OVERRIDE;
35 void setVelCmdElement(const
int index, const
double val) MRPT_OVERRIDE;
36 bool isStopCmd() const MRPT_OVERRIDE;
37 void setToStop() MRPT_OVERRIDE;
43 void cmdVel_scale(
double vel_scale) MRPT_OVERRIDE;
47 double cmdVel_limits(const
mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const
double beta, const
TVelCmdParams ¶ms) MRPT_OVERRIDE;
50 double filter_max_vw(
double &v,
double &w, const
TVelCmdParams &p);
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Virtual base for velocity commands of different kinematic models of planar mobile robot...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
double ang_vel
Angular velocity (rad/s)
double lin_vel
Linear velocity (m/s)
#define KINEMATICS_IMPEXP
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Parameters that may be used by cmdVel_limits() in any derived classes.
Kinematic model for Ackermann-like or differential-driven vehicles.