CPTG4.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  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.                                   |
   |                                                                           |
   |   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.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CPTG4_H
#define CPTG4_H

#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>

namespace mrpt
{
  namespace reactivenav
  {
        /** A PTG for optimal paths of type "C|C".
          *  See "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And Autom, 1999.
          *  \ingroup mrpt_reactivenav_grp
         */
        class REACTIVENAV_IMPEXP  CPTG4 : public CParameterizedTrajectoryGenerator
        {
         public:
                        /** Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
                         *   - K: Direction, +1 or -1
                         */
                        CPTG4(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:
                 float          R,K;

        };
  }
}


#endif