Class AckermannMotionModel

• Defined in File motion_models.hpp

Inheritance Relationships

Base Type

• public mppi::MotionModel (Class MotionModel)

Class Documentation

class AckermannMotionModel : public mppi::MotionModel

Ackermann motion model.

Public Functions

inline explicit AckermannMotionModel(ParametersHandler *param_handler, const std::string &name)

Constructor for mppi::AckermannMotionModel.

inline virtual bool isHolonomic() override

Whether the motion model is holonomic, using Y axis.

Returns:

Bool If holonomic

inline virtual void applyConstraints(models::ControlSequence &control_sequence) override

Apply hard vehicle constraints to a control sequence.

Parameters:

control_sequence – Control sequence to apply constraints to

inline float getMinTurningRadius()

Get minimum turning radius of ackermann drive.

Returns:

Minimum turning radius