Class VehicleTraits::Differential

Defined in File VehicleTraits.hpp

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.