squiggles::TankModel Class Reference

#include <tankmodel.hpp>

Inheritance diagram for squiggles::TankModel:

Public Member Functions
	TankModel (double itrack_width, Constraints ilinear_constraints)
	Defines a model of a tank drive or differential drive robot.
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 16 of file tankmodel.hpp.

Constructor & Destructor Documentation

TankModel()

squiggles::TankModel::TankModel	(	double	itrack_width,
		Constraints	ilinear_constraints
	)

Defines a model of a tank drive or differential drive robot.

Parameters

itrack_width	The distance between the the wheels on each side of the robot in meters.
ilinear_constraints	The maximum values for the robot's movement.

Member Function Documentation

constraints()

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

overridevirtual

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.

linear_to_wheel_vels()

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

overridevirtual

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.

to_string()

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

overridevirtual

Implements squiggles::PhysicalModel.

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

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