FourSwedishWheelOmniBaseKinematicConfiguration.hpp
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00001 #ifndef YOUBOT_FOURSWEDISHWHEELOMNIBASEKINEMATICCONFIGURATION_H
00002 #define YOUBOT_FOURSWEDISHWHEELOMNIBASEKINEMATICCONFIGURATION_H
00003 
00004 /****************************************************************
00005  *
00006  * Copyright (c) 2011
00007  * All rights reserved.
00008  *
00009  * Hochschule Bonn-Rhein-Sieg
00010  * University of Applied Sciences
00011  * Computer Science Department
00012  *
00013  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00014  *
00015  * Author:
00016  * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
00017  * Supervised by:
00018  * Gerhard K. Kraetzschmar
00019  *
00020  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00021  *
00022  * This sofware is published under a dual-license: GNU Lesser General Public 
00023  * License LGPL 2.1 and BSD license. The dual-license implies that users of this
00024  * code may choose which terms they prefer.
00025  *
00026  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00027  *
00028  * Redistribution and use in source and binary forms, with or without
00029  * modification, are permitted provided that the following conditions are met:
00030  *
00031  *     * Redistributions of source code must retain the above copyright
00032  *       notice, this list of conditions and the following disclaimer.
00033  *     * Redistributions in binary form must reproduce the above copyright
00034  *       notice, this list of conditions and the following disclaimer in the
00035  *       documentation and/or other materials provided with the distribution.
00036  *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
00037  *       contributors may be used to endorse or promote products derived from
00038  *       this software without specific prior written permission.
00039  *
00040  * This program is free software: you can redistribute it and/or modify
00041  * it under the terms of the GNU Lesser General Public License LGPL as
00042  * published by the Free Software Foundation, either version 2.1 of the
00043  * License, or (at your option) any later version or the BSD license.
00044  *
00045  * This program is distributed in the hope that it will be useful,
00046  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00047  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00048  * GNU Lesser General Public License LGPL and the BSD license for more details.
00049  *
00050  * You should have received a copy of the GNU Lesser General Public
00051  * License LGPL and BSD license along with this program.
00052  *
00053  ****************************************************************/
00054 #include <vector>
00055 #include <string>
00056 #include <youbot_driver/generic/Logger.hpp>
00057 #include <youbot_driver/generic/Units.hpp>
00058 #include <youbot_driver/generic/Exceptions.hpp>
00059 namespace youbot
00060 {
00061 
00065 class FourSwedishWheelOmniBaseKinematicConfiguration
00066 {
00067 public:
00068   FourSwedishWheelOmniBaseKinematicConfiguration();
00069 
00070   ~FourSwedishWheelOmniBaseKinematicConfiguration();
00071 
00072   FourSwedishWheelOmniBaseKinematicConfiguration(const FourSwedishWheelOmniBaseKinematicConfiguration & source);
00073 
00074   FourSwedishWheelOmniBaseKinematicConfiguration & operator=(
00075       const FourSwedishWheelOmniBaseKinematicConfiguration & source);
00076 
00077   quantity<si::length> wheelRadius;
00078 
00079   quantity<si::length> lengthBetweenFrontWheels;
00080 
00081   quantity<si::length> lengthBetweenFrontAndRearWheels;
00082 
00083   //how far sideways in one wheel rotation compared to forward
00084   double slideRatio;
00085 
00086   double rotationRatio;
00087 
00088 };
00089 
00090 } // namespace youbot
00091 #endif


youbot_driver
Author(s): Jan Paulus
autogenerated on Mon Oct 6 2014 09:08:01