Class VehicleTraits::Differential

Nested Relationships

This class is a nested type of Class VehicleTraits.

Class Documentation

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.