WheeledBaseKinematic Class Reference
abstract class of a wheeled based / platform kinematic More...
#include <WheeledBaseKinematic.hpp>
Inheritance diagram for WheeledBaseKinematic:
Public Member Functions | |
| virtual void | cartesianVelocityToWheelVelocities (const quantity< si::velocity > &longitudinalVelocity, const quantity< si::velocity > &transversalVelocity, const quantity< angular_velocity > &angularVelocity, std::vector< quantity< angular_velocity > > &wheelVelocities)=0 |
| virtual void | wheelVelocitiesToCartesianVelocity (const std::vector< quantity< angular_velocity > > &wheelVelocities, quantity< si::velocity > &longitudinalVelocity, quantity< si::velocity > &transversalVelocity, quantity< angular_velocity > &angularVelocity)=0 |
| virtual void | wheelPositionsToCartesianPosition (const std::vector< quantity< plane_angle > > &wheelPositions, quantity< si::length > &longitudinalPosition, quantity< si::length > &transversalPosition, quantity< plane_angle > &orientation)=0 |
Detailed Description
abstract class of a wheeled based / platform kinematic
Definition at line 67 of file WheeledBaseKinematic.hpp.
Member Function Documentation
| virtual void cartesianVelocityToWheelVelocities | ( | const quantity< si::velocity > & | longitudinalVelocity, | |
| const quantity< si::velocity > & | transversalVelocity, | |||
| const quantity< angular_velocity > & | angularVelocity, | |||
| std::vector< quantity< angular_velocity > > & | wheelVelocities | |||
| ) | [pure virtual] |
| virtual void wheelPositionsToCartesianPosition | ( | const std::vector< quantity< plane_angle > > & | wheelPositions, | |
| quantity< si::length > & | longitudinalPosition, | |||
| quantity< si::length > & | transversalPosition, | |||
| quantity< plane_angle > & | orientation | |||
| ) | [pure virtual] |
Implemented in FourSwedishWheelOmniBaseKinematic.
| virtual void wheelVelocitiesToCartesianVelocity | ( | const std::vector< quantity< angular_velocity > > & | wheelVelocities, | |
| quantity< si::velocity > & | longitudinalVelocity, | |||
| quantity< si::velocity > & | transversalVelocity, | |||
| quantity< angular_velocity > & | angularVelocity | |||
| ) | [pure virtual] |
Implemented in FourSwedishWheelOmniBaseKinematic.
The documentation for this class was generated from the following file:
