.. _program_listing_file__tmp_ws_src_ecl_core_ecl_mobile_robot_include_ecl_mobile_robot_kinematics_differential_drive.hpp:

Program Listing for File differential_drive.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ecl_core_ecl_mobile_robot_include_ecl_mobile_robot_kinematics_differential_drive.hpp>` (``/tmp/ws/src/ecl_core/ecl_mobile_robot/include/ecl/mobile_robot/kinematics/differential_drive.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*****************************************************************************
   ** 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 "../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::linear_algebra::Vector3d poseUpdateFromWheelDifferential(
         const double& dleft,
         const double &dright
       ) const;
   
       ecl::linear_algebra::Vector3d poseUpdateFromBaseDifferential(
         const double& translation,
         const double& rotation
       ) const;
   
       ecl::linear_algebra::Vector2d baseToWheelVelocities(
         const double& linear_velocity,
         const double& angular_velocity
       ) const;
   
       static ecl::linear_algebra::Vector2d PoseToBaseDifferential(
           const ecl::linear_algebra::Vector3d &a,
           const ecl::linear_algebra::Vector3d &b
       );
   private:
       double bias, radius;
   };
   
   } // namespace mobile_robot
   } // namespace ecl
   
   #endif /* ECL_MOBILE_ROBOT_DIFFERENTIAL_DRIVE_KINEMATICS_HPP_ */