Robot related parameters. More...
#include <teb_config.h>
Public Attributes | |
| double | acc_lim_theta |
| Maximum angular acceleration of the robot. More... | |
| double | acc_lim_x |
| Maximum translational acceleration of the robot. More... | |
| double | acc_lim_y |
| Maximum strafing acceleration of the robot. More... | |
| bool | cmd_angle_instead_rotvel |
| Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance') More... | |
| bool | is_footprint_dynamic |
| double | max_vel_theta |
| Maximum angular velocity of the robot. More... | |
| double | max_vel_trans |
| Maximum translational velocity of the robot for omni robots, which is different from max_vel_x. More... | |
| double | max_vel_x |
| Maximum translational velocity of the robot. More... | |
| double | max_vel_x_backwards |
| Maximum translational velocity of the robot for driving backwards. More... | |
| double | max_vel_y |
| Maximum strafing velocity of the robot (should be zero for non-holonomic robots!) More... | |
| double | min_turning_radius |
| Minimum turning radius of a carlike robot (diff-drive robot: zero);. More... | |
| double | transform_tolerance = 0.5 |
| bool | use_proportional_saturation |
| double | wheelbase |
| The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots! More... | |
Robot related parameters.
Definition at line 97 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::acc_lim_theta |
Maximum angular acceleration of the robot.
Definition at line 106 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::acc_lim_x |
Maximum translational acceleration of the robot.
Definition at line 104 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::acc_lim_y |
Maximum strafing acceleration of the robot.
Definition at line 105 of file teb_config.h.
| bool teb_local_planner::TebConfig::Robot::cmd_angle_instead_rotvel |
Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance')
Definition at line 109 of file teb_config.h.
| bool teb_local_planner::TebConfig::Robot::is_footprint_dynamic |
Definition at line 110 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::max_vel_theta |
Maximum angular velocity of the robot.
Definition at line 103 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::max_vel_trans |
Maximum translational velocity of the robot for omni robots, which is different from max_vel_x.
Definition at line 102 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::max_vel_x |
Maximum translational velocity of the robot.
Definition at line 99 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::max_vel_x_backwards |
Maximum translational velocity of the robot for driving backwards.
Definition at line 100 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::max_vel_y |
Maximum strafing velocity of the robot (should be zero for non-holonomic robots!)
Definition at line 101 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::min_turning_radius |
Minimum turning radius of a carlike robot (diff-drive robot: zero);.
Definition at line 107 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::transform_tolerance = 0.5 |
Definition at line 112 of file teb_config.h.
| bool teb_local_planner::TebConfig::Robot::use_proportional_saturation |
Definition at line 111 of file teb_config.h.
| double teb_local_planner::TebConfig::Robot::wheelbase |
The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots!
Definition at line 108 of file teb_config.h.