text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          https://www.mrpt.org/                         |
     |                                                                        |
     | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
     | See: https://www.mrpt.org/Authors - All rights reserved.               |
     | Released under BSD License. See: https://www.mrpt.org/License          |
     +------------------------------------------------------------------------+ */
  #pragma once
  
  #include <mrpt/config/CConfigFileBase.h>
  #include <mrpt/serialization/CSerializable.h>
  #include <string>
  
  namespace mrpt::kinematics
  {
  /** Virtual base for velocity commands of different kinematic models of planar
   * mobile robot.
   * \ingroup mrpt_kinematics_grp */
  class CVehicleVelCmd : public mrpt::serialization::CSerializable
  {
  	DEFINE_VIRTUAL_SERIALIZABLE(CVehicleVelCmd)
     public:
  	CVehicleVelCmd();
  	CVehicleVelCmd(const CVehicleVelCmd& other);
  	~CVehicleVelCmd() override;
  	CVehicleVelCmd& operator=(const CVehicleVelCmd& other);
  
  	/** Get number of components in each velocity command */
  	virtual size_t getVelCmdLength() const = 0;
  	/** Get textual, human-readable description of each velocity command
  	 * component */
  	virtual std::string getVelCmdDescription(const int index) const = 0;
  	/** Get each velocity command component */
  	virtual double getVelCmdElement(const int index) const = 0;
  	/** Set each velocity command component */
  	virtual void setVelCmdElement(const int index, const double val) = 0;
  	/** Returns true if the command means "do not move" / "stop". \sa setToStop
  	 */
  	virtual bool isStopCmd() const = 0;
  	/** Set to a command that means "do not move" / "stop". \sa isStopCmd */
  	virtual void setToStop() = 0;
  	/** Returns a human readable description of the cmd */
  	std::string asString() const;
  
  	/** Parameters that may be used by cmdVel_limits() in any derived classes.
  	 */
  	struct TVelCmdParams
  	{
  		/** Max. linear speed (m/s) [Default=-1 (not set), will raise exception
  		 * if needed and not set] */
  		double robotMax_V_mps{-1.};
  		/** Max. angular speed (rad/s) [Default=-1 (not set), will raise
  		 * exception if needed and not set] */
  		double robotMax_W_radps{-1.};
  		/** Min. radius of curvature of paths (m) [Default=-1 (not set), will
  		 * raise exception if needed and not set] */
  		double robotMinCurvRadius{-1.};
  
  		TVelCmdParams();
  		/** Load any parameter required by a CVehicleVelCmd derived class. */
  		void loadConfigFile(
  			const mrpt::config::CConfigFileBase& cfg,
  			const std::string& section);
  		void saveToConfigFile(
  			mrpt::config::CConfigFileBase& c, const std::string& s) const;
  	};
  
  	/** Scale the velocity command encoded in this object.
  	 * \param[in] vel_scale A scale within [0,1] reflecting how much should be
  	 * the raw velocity command be lessen (e.g. for safety reasons,...).
  	 * \param[out] out_vel_cmd
  	 *
  	 * Users can directly inherit from existing implementations instead of
  	 * manually redefining this method:
  	 *  - mrpt::kinematics::CVehicleVelCmd_DiffDriven
  	 *  - mrpt::kinematics::CVehicleVelCmd_Holo
  	 */
  	virtual void cmdVel_scale(double vel_scale) = 0;
  
  	/** Updates this command, computing a blended version of `beta` (within
  	 * [0,1]) of `vel_cmd` and `1-beta` of `prev_vel_cmd`, simultaneously
  	 * to honoring any user-side maximum velocities.
  	 * \return The [0,1] ratio that the cmdvel had to be scaled down, or 1.0 if
  	 * none.
  	 */
  	virtual double cmdVel_limits(
  		const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta,
  		const TVelCmdParams& params) = 0;
  };
  
  }  // namespace mrpt::kinematics
  