FourSwedishWheelOmniBaseKinematic Class Reference

Implementation of a base kinematic with four swedish wheels. More...

#include <FourSwedishWheelOmniBaseKinematic.hpp>

Inheritance diagram for FourSwedishWheelOmniBaseKinematic:

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Public Member Functions
	FourSwedishWheelOmniBaseKinematic ()
virtual	~FourSwedishWheelOmniBaseKinematic ()
virtual void	cartesianVelocityToWheelVelocities (const quantity< si::velocity > &longitudinalVelocity, const quantity< si::velocity > &transversalVelocity, const quantity< si::angular_velocity > &angularVelocity, std::vector< quantity< angular_velocity > > &wheelVelocities)
	Calculates from the cartesian velocity the individual wheel velocities.
virtual void	wheelVelocitiesToCartesianVelocity (const std::vector< quantity< angular_velocity > > &wheelVelocities, quantity< si::velocity > &longitudinalVelocity, quantity< si::velocity > &transversalVelocity, quantity< angular_velocity > &angularVelocity)
	Calculates from the wheel velocities the cartesian velocity.
virtual void	wheelPositionsToCartesianPosition (const std::vector< quantity< plane_angle > > &wheelPositions, quantity< si::length > &longitudinalPosition, quantity< si::length > &transversalPosition, quantity< plane_angle > &orientation)
	Calculates from the wheel positions the cartesian position.
virtual void	cartesianPositionToWheelPositions (const quantity< si::length > &longitudinalPosition, const quantity< si::length > &transversalPosition, const quantity< plane_angle > &orientation, std::vector< quantity< plane_angle > > &wheelPositions)
	Calculates from the cartesian position the wheel positions.
void	setConfiguration (const FourSwedishWheelOmniBaseKinematicConfiguration &configuration)
void	getConfiguration (FourSwedishWheelOmniBaseKinematicConfiguration &configuration) const

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Detailed Description

Implementation of a base kinematic with four swedish wheels.

The youBot base kinematic.

Definition at line 66 of file FourSwedishWheelOmniBaseKinematic.hpp.

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Constructor & Destructor Documentation

FourSwedishWheelOmniBaseKinematic

(

)

Definition at line 54 of file FourSwedishWheelOmniBaseKinematic.cpp.

~FourSwedishWheelOmniBaseKinematic

(

)

[virtual]

Definition at line 60 of file FourSwedishWheelOmniBaseKinematic.cpp.

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Member Function Documentation

void cartesianPositionToWheelPositions	(	const quantity< si::length > &	longitudinalPosition,
		const quantity< si::length > &	transversalPosition,
		const quantity< plane_angle > &	orientation,
		std::vector< quantity< plane_angle > > &	wheelPositions
	)			[virtual]

Calculates from the cartesian position the wheel positions.

Parameters:

	longitudinalPosition	is the forward or backward position
	transversalPosition	is the sideway position
	orientation	is the rotation around the center
	wheelPositions	are the individual positions of the wheels

Definition at line 184 of file FourSwedishWheelOmniBaseKinematic.cpp.

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void cartesianVelocityToWheelVelocities	(	const quantity< si::velocity > &	longitudinalVelocity,
		const quantity< si::velocity > &	transversalVelocity,
		const quantity< si::angular_velocity > &	angularVelocity,
		std::vector< quantity< angular_velocity > > &	wheelVelocities
	)			[virtual]

Calculates from the cartesian velocity the individual wheel velocities.

Parameters:

	longitudinalVelocity	is the forward or backward velocity
	transversalVelocity	is the sideway velocity
	angularVelocity	is the rotational velocity around the center of the YouBot
	wheelVelocities	are the individual wheel velocities

Definition at line 70 of file FourSwedishWheelOmniBaseKinematic.cpp.

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void getConfiguration

(

FourSwedishWheelOmniBaseKinematicConfiguration &

configuration

)

const

Definition at line 219 of file FourSwedishWheelOmniBaseKinematic.cpp.

void setConfiguration

(

const FourSwedishWheelOmniBaseKinematicConfiguration &

configuration

)

Definition at line 213 of file FourSwedishWheelOmniBaseKinematic.cpp.

void wheelPositionsToCartesianPosition	(	const std::vector< quantity< plane_angle > > &	wheelPositions,
		quantity< si::length > &	longitudinalPosition,
		quantity< si::length > &	transversalPosition,
		quantity< plane_angle > &	orientation
	)			[virtual]

Calculates from the wheel positions the cartesian position.

Parameters:

	wheelPositions	are the individual positions of the wheels
	longitudinalPosition	is the forward or backward position
	transversalPosition	is the sideway position
	orientation	is the rotation around the center

Implements WheeledBaseKinematic.

Definition at line 130 of file FourSwedishWheelOmniBaseKinematic.cpp.

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void wheelVelocitiesToCartesianVelocity	(	const std::vector< quantity< angular_velocity > > &	wheelVelocities,
		quantity< si::velocity > &	longitudinalVelocity,
		quantity< si::velocity > &	transversalVelocity,
		quantity< angular_velocity > &	angularVelocity
	)			[virtual]

Calculates from the wheel velocities the cartesian velocity.

Parameters:

	wheelVelocities	are the velocities of the individual wheels
	longitudinalVelocity	is the forward or backward velocity
	transversalVelocity	is the sideway velocity
	angularVelocity	is the rotational velocity around the center of the YouBot

Implements WheeledBaseKinematic.

Definition at line 103 of file FourSwedishWheelOmniBaseKinematic.cpp.

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

• FourSwedishWheelOmniBaseKinematic.hpp
• FourSwedishWheelOmniBaseKinematic.cpp