Class DiffDrive

Defined in File diff_drive.hpp

Class Documentation

class DiffDrive

Public Functions

DiffDrive()

inline const ecl::DifferentialDrive::Kinematics &kinematics()

void update(const uint16_t &time_stamp, const uint16_t &left_encoder, const uint16_t &right_encoder, ecl::linear_algebra::Vector3d &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)

void reset()

void getWheelJointStates(double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)

void setVelocityCommands(const double &vx, const double &wz)

void velocityCommands(const double &vx, const double &wz)

void velocityCommands(const short &cmd_speed, const short &cmd_radius)

inline void velocityCommands(const std::vector<double> &cmd)

inline void velocityCommands(const std::vector<short> &cmd)

std::vector<short> velocityCommands()

std::vector<double> pointVelocity() const

inline double wheel_bias() const