CPTG1.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
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   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
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   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CPTG1_H
#define CPTG1_H

#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>

namespace mrpt
{
  namespace reactivenav
  {

        /** A PTG for circular paths. The parameter K is related with the transformation between alfa values
                        and curvature of the arcs. Let R be the radius of the circular path (the inverse of the curvature).
                        Then: <br> <center><code> R = K / (v<sub>MAX</sub> tan &alfa;) </code></center>
         *  \ingroup mrpt_reactivenav_grp
         */
        class REACTIVENAV_IMPEXP CPTG1 : public CParameterizedTrajectoryGenerator
        {
         public:
                        /** Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
                         *   - K: Direction, +1 or -1
                         */
                        CPTG1(const TParameters<double> &params );

                        /** The lambda function. */
                        void lambdaFunction( float x, float y, int &out_k, float &out_d );

                        /** Gets a short textual description of the PTG and its parameters. */
                        std::string getDescription() const;


                        bool PTG_IsIntoDomain( float x, float y );
                        void PTG_Generator( float alfa, float t,float x, float y, float phi, float &v, float &w );

         protected:
                        /** A generation parameter */
                        float   K;
        };
  }
}


#endif