cob_mecanum_controller::MecanumController Class Reference

#include <mecanum_controller.h>

Public Member Functions
	MecanumController (double lx, double ly, double r)
Eigen::Vector4d	twistToWheel (Eigen::Vector3d twist)
Eigen::Vector3d	wheelToTwist (Eigen::Vector4d wheel_velocity)

Protected Attributes
Eigen::Matrix< double, 4, 3 >	forward_matrix_
Eigen::Matrix< double, 3, 4 >	inverse_matrix_
double	r_

Detailed Description

Definition at line 21 of file mecanum_controller.h.

Constructor & Destructor Documentation

cob_mecanum_controller::MecanumController::MecanumController	(	double	lx,
		double	ly,
		double	r
	)

Definition at line 22 of file mecanum_controller.cpp.

Member Function Documentation

Eigen::Vector4d cob_mecanum_controller::MecanumController::twistToWheel

(

Eigen::Vector3d

twist

)

Definition at line 37 of file mecanum_controller.cpp.

Eigen::Vector3d cob_mecanum_controller::MecanumController::wheelToTwist

(

Eigen::Vector4d

wheel_velocity

)

Definition at line 30 of file mecanum_controller.cpp.

Member Data Documentation

Eigen::Matrix<double, 4, 3> cob_mecanum_controller::MecanumController::forward_matrix_

protected

Definition at line 31 of file mecanum_controller.h.

Eigen::Matrix<double, 3, 4> cob_mecanum_controller::MecanumController::inverse_matrix_

protected

Definition at line 32 of file mecanum_controller.h.

double cob_mecanum_controller::MecanumController::r_

protected

Definition at line 33 of file mecanum_controller.h.

---

The documentation for this class was generated from the following files:

• mecanum_controller.h
• mecanum_controller.cpp