CPTG5.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CPTG5_H
#define CPTG5_H

#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>

namespace mrpt
{
  /** \ingroup mrpt_reactivenav_grp */
  namespace reactivenav
  {
        /** A PTG for optimal paths of type "CS", as named in PTG papers.
          *  See "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And Autom, 1999.
          *  \ingroup mrpt_reactivenav_grp
         */
        class REACTIVENAV_IMPEXP  CPTG5 : public CParameterizedTrajectoryGenerator
        {
         public:
                        /** Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
                         *   - K: Direction, +1 or -1
                         */
                        CPTG5(const TParameters<double> &params );

                        /** 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 alpha, float t,float x, float y, float phi, float &v, float &w );


         protected:
                 float          R,K;

        };
  }
}


#endif