Class TankModel¶
Defined in File tankmodel.hpp
Inheritance Relationships¶
Base Type¶
public squiggles::PhysicalModel
(Class PhysicalModel)
Class Documentation¶
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class
squiggles
::
TankModel
: public squiggles::PhysicalModel¶ Public Functions
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TankModel
(double itrack_width, Constraints ilinear_constraints)¶ Defines a model of a tank drive or differential drive robot.
- Parameters
itrack_width
: The distance between the the wheels on each side of the robot in meters.ilinear_constraints
: The maximum values for the robot’s movement.
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Constraints
constraints
(const Pose pose, double curvature, double vel) override¶ 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.
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std::vector<double>
linear_to_wheel_vels
(double lin_vel, double curvature) override¶ 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.
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std::string
to_string
() const override¶
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