FourSwedishWheelOmniBaseKinematicConfiguration.hpp

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#ifndef YOUBOT_FOURSWEDISHWHEELOMNIBASEKINEMATICCONFIGURATION_H
#define YOUBOT_FOURSWEDISHWHEELOMNIBASEKINEMATICCONFIGURATION_H

/****************************************************************
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 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
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 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 * 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 
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#include <vector>
#include <string>
#include "generic/Logger.hpp"
#include "generic/Units.hpp"
#include "generic/Exceptions.hpp"
namespace youbot {

///////////////////////////////////////////////////////////////////////////////
/// Configuration for the base kinematic with four swedish wheels.
///////////////////////////////////////////////////////////////////////////////
class FourSwedishWheelOmniBaseKinematicConfiguration {
  public:
    FourSwedishWheelOmniBaseKinematicConfiguration();

    ~FourSwedishWheelOmniBaseKinematicConfiguration();

    FourSwedishWheelOmniBaseKinematicConfiguration(const FourSwedishWheelOmniBaseKinematicConfiguration & source);

    FourSwedishWheelOmniBaseKinematicConfiguration & operator=(const FourSwedishWheelOmniBaseKinematicConfiguration & source);

    quantity<si::length> wheelRadius;

    quantity<si::length> lengthBetweenFrontWheels;

    quantity<si::length> lengthBetweenFrontAndRearWheels;

    //how far sideways in one wheel rotation compared to forward
    double slideRatio;

    double rotationRatio;

};

} // namespace youbot
#endif