squiggles::PhysicalModel Class Reference

#include <physicalmodel.hpp>

Inheritance diagram for squiggles::PhysicalModel:

Public Member Functions
virtual Constraints	constraints (const Pose pose, double curvature, double vel)=0
	Calculate a set of stricter constraints for the path at the given state than the general constraints based on the robot's kinematics.
virtual std::vector< double >	linear_to_wheel_vels (double linear, double curvature)=0
	Converts a linear velocity and desired curvature into the component for each wheel of the robot.
virtual std::string	to_string () const =0

Detailed Description

Definition at line 14 of file physicalmodel.hpp.

Member Function Documentation

constraints()

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

pure virtual

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.

Implemented in squiggles::PassthroughModel, and squiggles::TankModel.

linear_to_wheel_vels()

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

pure virtual

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.

Implemented in squiggles::PassthroughModel, and squiggles::TankModel.

to_string()

virtual std::string squiggles::PhysicalModel::to_string ( ) const

pure virtual

Implemented in squiggles::PassthroughModel, and squiggles::TankModel.

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

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