physicalmodel_8hpp_source.html

#ifndef _PHYSICAL_MODEL_PHYSICAL_MODEL_HPP_

#define _PHYSICAL_MODEL_PHYSICAL_MODEL_HPP_


#include "constraints.hpp"

#include "geometry/pose.hpp"


namespace squiggles {


class PhysicalModel {

  public:

  virtual Constraints

  constraints(const Pose pose, double curvature, double vel) = 0;


  virtual std::vector<double> linear_to_wheel_vels(double linear,

                                                   double curvature) = 0;


  virtual std::string to_string() const = 0;

};


} // namespace squiggles


#endif

squiggles::PhysicalModel
Definition physicalmodel.hpp:14

squiggles::PhysicalModel::linear_to_wheel_vels
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.

squiggles::PhysicalModel::constraints
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 ...

squiggles::PhysicalModel::to_string
virtual std::string to_string() const =0

squiggles::Pose
Definition pose.hpp:16

constraints.hpp

squiggles
Copyright 2020 Jonathan Bayless.
Definition constraints.hpp:13

pose.hpp

squiggles::Constraints
Definition constraints.hpp:14