Class PhysicalModel¶
Defined in File physicalmodel.hpp
Inheritance Relationships¶
Derived Types¶
public squiggles::PassthroughModel
(Class PassthroughModel)public squiggles::TankModel
(Class TankModel)
Class Documentation¶

class squiggles::PhysicalModel¶
Subclassed by squiggles::PassthroughModel, squiggles::TankModel
Public Functions

virtual 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.

virtual 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.

virtual std::string to_string() const = 0¶

virtual Constraints constraints(const Pose pose, double curvature, double vel) = 0¶