squiggles::PassthroughModel Class Reference

#include <passthroughmodel.hpp>

Inheritance diagram for squiggles::PassthroughModel:

Public Member Functions
	PassthroughModel ()=default
	Defines a Physical Model that imposes no constraints of its own.
Constraints	constraints (const Pose pose, double curvature, double vel) override
	Calculate a set of stricter constraints for the path at the given state than the general constraints based on the robot's kinematics.
std::vector< double >	linear_to_wheel_vels (double lin_vel, double curvature) override
	Converts a linear velocity and desired curvature into the component for each wheel of the robot.
std::string	to_string () const override

Detailed Description

Definition at line 13 of file passthroughmodel.hpp.

Constructor & Destructor Documentation

PassthroughModel()

squiggles::PassthroughModel::PassthroughModel ( )

default

Defines a Physical Model that imposes no constraints of its own.

Member Function Documentation

constraints()

Constraints squiggles::PassthroughModel::constraints ( const Pose  pose, double  curvature, double  vel  )

inlineoverridevirtual

Calculate a set of stricter constraints for the path at the given state than the general constraints based on the robot's kinematics.

Parameters

pose	The 2D pose for this state in the path.
curvature	The change in heading at this state in the path in 1 / meters.
vel	The linear velocity at this state in the path in meters per second.

Implements squiggles::PhysicalModel.

Definition at line 20 of file passthroughmodel.hpp.

linear_to_wheel_vels()

std::vector< double > squiggles::PassthroughModel::linear_to_wheel_vels ( double  linear, double  curvature  )

inlineoverridevirtual

Converts a linear velocity and desired curvature into the component for each wheel of the robot.

Parameters

linear	The linear velocity for the robot in meters per second.
curvature	The change in heading for the robot in 1 / meters.

Implements squiggles::PhysicalModel.

Definition at line 27 of file passthroughmodel.hpp.

to_string()

std::string squiggles::PassthroughModel::to_string ( ) const

inlineoverridevirtual

Implements squiggles::PhysicalModel.

Definition at line 32 of file passthroughmodel.hpp.

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The documentation for this class was generated from the following file:

• include/okapi/squiggles/physicalmodel/passthroughmodel.hpp