text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          http://www.mrpt.org/                          |
     |                                                                        |
     | Copyright (c) 2005-2017, 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 |
     +------------------------------------------------------------------------+ */
  #pragma once
  
  #include <mrpt/nav/tpspace/CPTG_DiffDrive_CollisionGridBased.h>
  
  namespace mrpt
  {
  namespace nav
  {
  /** A PTG for optimal paths of type "C|C,S" (as named in PTG papers).
   * - **Compatible kinematics**: differential-driven / Ackermann steering
   * - **Compatible robot shape**: Arbitrary 2D polygon
   * - **PTG parameters**: Use the app `ptg-configurator`
   *
   *  See also "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And
   * Autom, 1999.
   * \note [Before MRPT 1.5.0 this was named CPTG3]
   *  \ingroup nav_tpspace
   */
  class NAV_IMPEXP CPTG_DiffDrive_CCS : public CPTG_DiffDrive_CollisionGridBased
  {
  	DEFINE_SERIALIZABLE(CPTG_DiffDrive_CCS)
     public:
  	CPTG_DiffDrive_CCS() : R(0), K(0) {}
  	CPTG_DiffDrive_CCS(
  		const mrpt::utils::CConfigFileBase& cfg, const std::string& sSection)
  	{
  		loadFromConfigFile(cfg, sSection);
  	}
  	virtual void loadFromConfigFile(
  		const mrpt::utils::CConfigFileBase& cfg,
  		const std::string& sSection) override;
  	virtual void saveToConfigFile(
  		mrpt::utils::CConfigFileBase& cfg,
  		const std::string& sSection) const override;
  
  	std::string getDescription() const override;
  	bool PTG_IsIntoDomain(double x, double y) const override;
  	void ptgDiffDriveSteeringFunction(
  		float alpha, float t, float x, float y, float phi, float& v,
  		float& w) const override;
  	void loadDefaultParams() override;
  
     protected:
  	double R, K;
  };
  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(
  	CPTG_DiffDrive_CCS, CParameterizedTrajectoryGenerator, NAV_IMPEXP)
  }
  }
  