Various representations and transforms relevant to mobile robot platforms.
Include the following at the top of any translation unit which requires this library:
You will also need to link to -lecl_mobile_robot.
This is the classical definition for a mobile robot's state in a 2D world - [ x, y, heading ]. This class provides a convenient c++ container style interface as well as a few mathematical operators for calculating relative poses (differentials).
Currently there is only the diff drive kinematics class. This provides functions for forward and inverse kinematics on a differential drive type robot.
- <b>May 10</b> : extended and fully road-tested pose and differential drive interfaces. - <b>Jan 10</b> : added transforms used by the iclebo mobile platform (diff drive).