#include <UndercarriageCtrlGeom.h>
Public Member Functions | |
| double | getVelX () const |
| double | getVelY () const |
| void | updateState (const WheelState &state) |
| WheelData (const WheelGeom &geom) | |
Static Public Member Functions | |
| static double | mergeRotRobRadS (const WheelData &wheel1, const WheelData &wheel2) |
Public Attributes | |
| double | dFactorVel |
| WheelGeom | geom_ |
| double | m_dExWheelAngRad |
| double | m_dExWheelDistMM |
| double | m_dExWheelXPosMM |
| double | m_dExWheelYPosMM |
| double | m_dVelWheelMMS |
| WheelState | state_ |
Detailed Description
Definition at line 65 of file UndercarriageCtrlGeom.h.
Constructor & Destructor Documentation
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inline |
Definition at line 93 of file UndercarriageCtrlGeom.h.
Member Function Documentation
| double WheelData::getVelX | ( | ) | const |
Definition at line 84 of file UndercarriageCtrlGeom.cpp.
| double WheelData::getVelY | ( | ) | const |
Definition at line 87 of file UndercarriageCtrlGeom.cpp.
Definition at line 69 of file UndercarriageCtrlGeom.cpp.
| void WheelData::updateState | ( | const WheelState & | state | ) |
Definition at line 53 of file UndercarriageCtrlGeom.cpp.
Member Data Documentation
| double WheelData::dFactorVel |
Factor between steering motion and steering induced motion of drive wheels subtract from Drive-Wheel Vel to get effective Drive Velocity (Direct Kinematics) add to Drive-Wheel Vel (Inverse Kinematics) to account for coupling when commanding velos
Definition at line 72 of file UndercarriageCtrlGeom.h.
| WheelGeom WheelData::geom_ |
Definition at line 66 of file UndercarriageCtrlGeom.h.
| double WheelData::m_dExWheelAngRad |
Definition at line 83 of file UndercarriageCtrlGeom.h.
| double WheelData::m_dExWheelDistMM |
Definition at line 82 of file UndercarriageCtrlGeom.h.
| double WheelData::m_dExWheelXPosMM |
Exact Position of the Wheels' itself in cartesian (X/Y) and polar (Dist/Ang) coordinates relative to robot coordinate System
Definition at line 80 of file UndercarriageCtrlGeom.h.
| double WheelData::m_dExWheelYPosMM |
Definition at line 81 of file UndercarriageCtrlGeom.h.
| double WheelData::m_dVelWheelMMS |
Definition at line 85 of file UndercarriageCtrlGeom.h.
| WheelState WheelData::state_ |
Definition at line 74 of file UndercarriageCtrlGeom.h.
The documentation for this struct was generated from the following files: