#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
std::string getVelCmdDescription(const int index) const override
Get textual, human-readable description of each velocity command component.
void setToStop() override
Set to a command that means "do not move" / "stop".
void cmdVel_scale(double vel_scale) override
Scale the velocity command encoded in this object.
Parameters that may be used by cmdVel_limits() in any derived classes.
size_t getVelCmdLength() const override
Get number of components in each velocity command.
void setVelCmdElement(const int index, const double val) override
Set each velocity command component.
double ramp_time
: Blending time between current and target time.
double getVelCmdElement(const int index) const override
Get each velocity command component.
double dir_local
: direction, relative to the current robot heading (radians).
~CVehicleVelCmd_Holo() override
mrpt::vision::TStereoCalibParams params
bool isStopCmd() const override
Returns true if the command means "do not move" / "stop".
double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams ¶ms) override
Updates this command, computing a blended version of beta (within [0,1]) of vel_cmd and 1-beta of pre...
double rot_speed
: (rad/s) rotational speed for rotating such as the robot slowly faces forward.
Virtual base for velocity commands of different kinematic models of planar mobile robot.
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