Program Listing for File tankmodel.hpp¶
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)
#ifndef _PHYSICAL_MODEL_TANK_MODEL_HPP_
#define _PHYSICAL_MODEL_TANK_MODEL_HPP_
#include <tuple>
#include <vector>
#include "physicalmodel/physicalmodel.hpp"
namespace squiggles {
class TankModel : public PhysicalModel {
public:
TankModel(double itrack_width, Constraints ilinear_constraints);
Constraints
constraints(const Pose pose, double curvature, double vel) override;
std::vector<double> linear_to_wheel_vels(double lin_vel,
double curvature) override;
std::string to_string() const override;
private:
double vel_constraint(const Pose pose, double curvature, double vel);
std::tuple<double, double>
accel_constraint(const Pose pose, double curvature, double vel) const;
double track_width;
Constraints linear_constraints;
};
} // namespace squiggles
#endif