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26 for (
size_t i = 0; i < getVelCmdLength(); i++)
29 "%s=%.03f ", getVelCmdDescription(i).c_str(), getVelCmdElement(i));
39 typeid(*
this) ==
typeid(other),
"Trying to copy incompatible classes");
40 for (
size_t i = 0; i < nThis; i++)
59 "Max. linear speed (m/s) [Default=-1 (not set), will raise exception "
60 "if needed and not set]");
62 "robotMax_W_degps", robotMax_W_radps,
63 "Max. angular speed (deg/s) [Default=-1 (not set), will raise "
64 "exception if needed and not set]");
67 "Min. radius of curvature of paths (m) [Default=-1 (not set), will "
68 "raise exception if needed and not set]");
#define MRPT_SAVE_CONFIG_VAR_COMMENT(variableName, __comment)
#define MRPT_LOAD_CONFIG_VAR( variableName, variableType, configFileObject, sectionNameStr)
An useful macro for loading variables stored in a INI-like file under a key with the same name that t...
std::string asString() const
Returns a human readable description of the cmd.
#define IMPLEMENTS_VIRTUAL_SERIALIZABLE(class_name, base_class, NS)
This must be inserted as implementation of some required members for virtual CSerializable classes:
void saveToConfigFile(mrpt::config::CConfigFileBase &c, const std::string &s) const
virtual void setVelCmdElement(const int index, const double val)=0
Set each velocity command component.
#define MRPT_LOAD_CONFIG_VAR_NO_DEFAULT( variableName, variableType, configFileObject, sectionNameStr)
void loadConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string §ion)
Load any parameter required by a CVehicleVelCmd derived class.
This class allows loading and storing values and vectors of different types from a configuration text...
double robotMinCurvRadius
Min.
#define MRPT_SAVE_CONFIG_VAR_DEGREES_COMMENT( __entryName, __variable, __comment)
virtual double getVelCmdElement(const int index) const =0
Get each velocity command component.
#define MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT( variableName, variableType, targetVariable, configFileObject, sectionNameStr)
double robotMax_W_radps
Max.
#define ASSERTMSG_(f, __ERROR_MSG)
Defines an assertion mechanism.
double robotMax_V_mps
Max.
virtual size_t getVelCmdLength() const =0
Get number of components in each velocity command.
Virtual base for velocity commands of different kinematic models of planar mobile robot.
~CVehicleVelCmd() override
std::string std::string format(std::string_view fmt, ARGS &&... args)
CVehicleVelCmd & operator=(const CVehicleVelCmd &other)
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