kinematic.py
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00001 #!/usr/bin/python
00002 
00003 # ROS stuff
00004 import roslib; roslib.load_manifest('clearpath_base')
00005 import rospy
00006 
00007 from base import Clearpath
00008 
00009 
00010 class Kinematic(Clearpath):
00011     def __init__(self):
00012         Clearpath.__init__(self)
00013         rospy.loginfo("Using closed-loop kinematic control")
00014         
00015         self.accel = rospy.get_param('~accel', 2)
00016         rospy.loginfo("Using %d m/s^2 acceleration", self.accel)
00017 
00018     def cmd_vel(self, linear_velocity, angular_velocity):
00019         self.horizon.set_velocity(linear_velocity, angular_velocity, self.accel)
00020 
00021 
00022 Kinematic().run()


clearpath_base
Author(s): Mike Purvis
autogenerated on Sun Oct 5 2014 22:52:08