Class PhysicalModel

Inheritance Relationships

Derived Types

Class Documentation

class squiggles::PhysicalModel

Subclassed by squiggles::PassthroughModel, squiggles::TankModel

Public Functions

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 based on the robot’s kinematics.

Parameters

  • pose: The 2D pose for this state in the path.

  • curvature: The change in heading at this state in the path in 1 / meters.

  • vel: The linear velocity at this state in the path in meters per second.

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.

Parameters

  • linear: The linear velocity for the robot in meters per second.

  • curvature: The change in heading for the robot in 1 / meters.

std::string to_string() const = 0