Struct KinematicParameters

• Defined in File kinematic_parameters.hpp

Struct Documentation

struct KinematicParameters

A struct containing one representation of the robot’s kinematics.

Public Functions

inline double getMinX()

inline double getMaxX()

inline double getAccX()

inline double getDecelX()

inline double getMinY()

inline double getMaxY()

inline double getAccY()

inline double getDecelY()

inline double getMinSpeedXY()

inline double getMaxSpeedXY()

inline double getMinTheta()

inline double getMaxTheta()

inline double getAccTheta()

inline double getDecelTheta()

inline double getMinSpeedTheta()

inline double getMinSpeedXY_SQ()

inline double getMaxSpeedXY_SQ()

Protected Attributes

double min_vel_x_ = {0}

double min_vel_y_ = {0}

double max_vel_x_ = {0}

double max_vel_y_ = {0}

double base_max_vel_x_ = {0}

double base_max_vel_y_ = {0}

double max_vel_theta_ = {0}

double base_max_vel_theta_ = {0}

double min_speed_xy_ = {0}

double max_speed_xy_ = {0}

double base_max_speed_xy_ = {0}

double min_speed_theta_ = {0}

double acc_lim_x_ = {0}

double acc_lim_y_ = {0}

double acc_lim_theta_ = {0}

double decel_lim_x_ = {0}

double decel_lim_y_ = {0}

double decel_lim_theta_ = {0}

double min_speed_xy_sq_ = {0}

double max_speed_xy_sq_ = {0}

Friends

friend class KinematicsHandler