Kinematics.h
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00034 
00035 
00036 #ifndef neo_kinematics_h_
00037 #define neo_kinematics_h_
00038 
00039 #include <geometry_msgs/Twist.h>
00040 #include <sensor_msgs/JointState.h>
00041 #include <trajectory_msgs/JointTrajectory.h>
00042 #include <nav_msgs/Odometry.h>
00043 #include <tf/transform_broadcaster.h>
00044 
00045 typedef struct {
00046         double xAbs;
00047         double yAbs;
00048         double phiAbs;
00049 } OdomPose;
00050 
00051 class Kinematics 
00052 {
00053    public:
00054         Kinematics();
00055         virtual void execForwKin(const sensor_msgs::JointState& js, nav_msgs::Odometry& odom, OdomPose& cpose){};
00056         virtual void execInvKin(const geometry_msgs::Twist& twist, trajectory_msgs::JointTrajectory& traj){};
00057    protected:
00058         ros::Time current_time, last_time;
00059 
00060 };
00061 
00062 Kinematics::Kinematics(){
00063         current_time = ros::Time::now();
00064         last_time = ros::Time::now();
00065 }
00066 
00067 
00068 #endif //neo_kinematics_h_


neo_platformctrl_mecanum
Author(s): Jan-Niklas Nieland
autogenerated on Thu Jun 6 2019 21:37:06