WheeledBaseKinematic.hpp

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#ifndef YOUBOT_WHEELEDBASEKINEMATIC_H
#define YOUBOT_WHEELEDBASEKINEMATIC_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
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 * modification, are permitted provided that the following conditions are met:
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 * This program is free software: you can redistribute it and/or modify
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#include <vector>
#include <string>
#include "generic/Units.hpp"
namespace youbot {

///////////////////////////////////////////////////////////////////////////////
/// abstract class of a base / platform kinematic
///////////////////////////////////////////////////////////////////////////////
class BaseKinematic {
};
///////////////////////////////////////////////////////////////////////////////
/// abstract class of a wheeled based / platform kinematic
///////////////////////////////////////////////////////////////////////////////
class WheeledBaseKinematic : public BaseKinematic {
  public:
    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;

};

} // namespace youbot
#endif