Defined in File tankmodel.hpp
public squiggles::PhysicalModel(Class PhysicalModel)
class squiggles::TankModel : public squiggles::PhysicalModel¶
TankModel(double itrack_width, Constraints ilinear_constraints)¶
Defines a model of a tank drive or differential drive robot.
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.
virtual 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.
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 lin_vel, double curvature) override¶
Converts a linear velocity and desired curvature into the component for each wheel of the robot.
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 override¶
- TankModel(double itrack_width, Constraints ilinear_constraints)¶