GenericRobotModel.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
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 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
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#include <robot/RobotModel.h>

#ifndef _MIRA_GENERICROBOTMODEL_H_
#define _MIRA_GENERICROBOTMODEL_H_

namespace mira { namespace robot {


class GenericRobotModel : public RobotModel
{
    MIRA_OBJECT(GenericRobotModel)
public:

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, RobotModel);
        r.member("WheelGeometry", wheelGeometry, "The position of each wheel");
    }

public:

    Velocity2 computeRobotVelocity(const Eigen::Matrix<float,
                                   Eigen::Dynamic,2>& castorWheelState);

    virtual Pose2 localKinematics(const Velocity2& v, float dt) const;

    virtual float predictStandstillDistance(const Velocity2& v) const;
    virtual float predictStandstillRotation(const Velocity2& v) const;

    virtual PoseVelocityTrajectory generateTrajectory(Velocity2 v, const Velocity2& targetV,
                                                      float lookAheadTime, int samples);

public:

    std::vector<Pose2> wheelGeometry;
};

typedef boost::shared_ptr<GenericRobotModel> GenericRobotModelPtr;


}} // namespace

#endif