kinematics/differential_drive.hpp

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/*****************************************************************************
** Ifdefs
*****************************************************************************/
 
#ifndef ECL_MOBILE_ROBOT_DIFFERENTIAL_DRIVE_KINEMATICS_HPP_
#define ECL_MOBILE_ROBOT_DIFFERENTIAL_DRIVE_KINEMATICS_HPP_
 
/*****************************************************************************
** Includes
*****************************************************************************/
 
#include <ecl/config/macros.hpp>
#include <ecl/linear_algebra.hpp>
#include <ecl/geometry/legacy_pose2d.hpp>
#include "../macros.hpp"
 
/*****************************************************************************
** Namespaces
*****************************************************************************/
 
namespace ecl {
 
namespace mobile_robot {
 
/*****************************************************************************
** Interface
*****************************************************************************/
 
class ecl_mobile_robot_PUBLIC DifferentialDriveKinematics {
public:
        DifferentialDriveKinematics(
                        const double &fixed_axis_length,
                        const double& wheel_radius) :
                bias(fixed_axis_length),
                radius(wheel_radius)
        {}
 
        ecl::LegacyPose2D<double> forward(const double &dleft, const double &dright) const;
 
        ecl::LegacyPose2D<double> forwardWithPlatformVelocity(const double & linearVelocity, const double & angularVelocity ) const;
 
        ecl::linear_algebra::Vector2d inverse(const double &linear_velocity, const double &angular_velocity) const;
 
        ECL_DEPRECATED static ecl::linear_algebra::Vector2d Inverse(const ecl::linear_algebra::Vector3d &a, const ecl::linear_algebra::Vector3d &b);
 
        static ecl::linear_algebra::Vector2d PartialInverse(const ecl::LegacyPose2D<double> &a, const ecl::LegacyPose2D<double> &b);
private:
        double bias, radius;
};
 
} // namespace mobile_robot
} // namespace ecl
 
#endif /* ECL_MOBILE_ROBOT_DIFFERENTIAL_DRIVE_KINEMATICS_HPP_ */