Class VehicleTraits

Defined in File VehicleTraits.hpp

Nested Relationships

Nested Types

Class Documentation

class VehicleTraits

Public Types

enum class Steering : uint16_t

Values:

enumerator Differential: The vehicle uses differential steering, making it impossible to move laterally.

enumerator Holonomic: The vehicle can move holonomically, so it has no limitations about how it steers.

Public Functions

VehicleTraits(Limits linear, Limits angular, Profile profile, Differential steering = Differential()): Constructor.

Limits &linear()

const Limits &linear() const

Limits &rotational()

const Limits &rotational() const

Profile &profile()

const Profile &profile() const

Steering get_steering() const

Differential &set_differential(Differential parameters = Differential())

Differential *get_differential()

const Differential *get_differential() const

Holonomic &set_holonomic(Holonomic parameters)

Holonomic *get_holonomic()

const Holonomic *get_holonomic() const

bool valid() const: Returns true if the values of the traits are valid. For example, this means that all velocity and acceleration values are greater than zero.

class Differential

Public Functions

Differential(Eigen::Vector2d forward = Eigen::Vector2d::UnitX(), bool reversible = true)

Differential &set_forward(Eigen::Vector2d forward)

const Eigen::Vector2d &get_forward() const

Differential &set_reversible(bool reversible)

bool is_reversible() const

bool valid() const: Returns true if the length of the forward vector is not too close to zero. If it is too close to zero, then the direction of the forward vector cannot be reliably interpreted. Ideally the forward vector should have unit length.

class Holonomic

Public Functions

Holonomic()

class Limits

Public Functions

Limits(double velocity = 0.0, double acceleration = 0.0)

Limits &set_nominal_velocity(double nom_vel)

double get_nominal_velocity() const

Limits &set_nominal_acceleration(double nom_accel)

double get_nominal_acceleration() const

bool valid() const: Returns true if the values of these limits are valid, i.e. greater than zero.