#include <FourSwedishWheelOmniBaseKinematic.hpp>

Inheritance diagram for youbot::FourSwedishWheelOmniBaseKinematic:

Public Member Functions
virtual void	cartesianPositionToWheelPositions (const quantity< si::length > &longitudinalPosition, const quantity< si::length > &transversalPosition, const quantity< plane_angle > &orientation, std::vector< quantity< plane_angle > > &wheelPositions)
virtual void	cartesianVelocityToWheelVelocities (const quantity< si::velocity > &longitudinalVelocity, const quantity< si::velocity > &transversalVelocity, const quantity< si::angular_velocity > &angularVelocity, std::vector< quantity< angular_velocity > > &wheelVelocities)
	FourSwedishWheelOmniBaseKinematic ()
void	getConfiguration (FourSwedishWheelOmniBaseKinematicConfiguration &configuration) const
void	setConfiguration (const FourSwedishWheelOmniBaseKinematicConfiguration &configuration)
virtual void	wheelPositionsToCartesianPosition (const std::vector< quantity< plane_angle > > &wheelPositions, quantity< si::length > &longitudinalPosition, quantity< si::length > &transversalPosition, quantity< plane_angle > &orientation)
virtual void	wheelVelocitiesToCartesianVelocity (const std::vector< quantity< angular_velocity > > &wheelVelocities, quantity< si::velocity > &longitudinalVelocity, quantity< si::velocity > &transversalVelocity, quantity< angular_velocity > &angularVelocity)
virtual	~FourSwedishWheelOmniBaseKinematic ()
Private Attributes
quantity< plane_angle >	angle
FourSwedishWheelOmniBaseKinematicConfiguration	config
bool	lastWheelPositionInitialized
std::vector< quantity < plane_angle > >	lastWheelPositions
quantity< si::length >	longitudinalPos
quantity< si::length >	transversalPos

Detailed Description

Implementation of a base kinematic with four swedish wheels. The youBot base kinematic.

Definition at line 67 of file FourSwedishWheelOmniBaseKinematic.hpp.

Constructor & Destructor Documentation

youbot::FourSwedishWheelOmniBaseKinematic::FourSwedishWheelOmniBaseKinematic ( )

Definition at line 55 of file FourSwedishWheelOmniBaseKinematic.cpp.

youbot::FourSwedishWheelOmniBaseKinematic::~FourSwedishWheelOmniBaseKinematic ( ) [virtual]

Definition at line 62 of file FourSwedishWheelOmniBaseKinematic.cpp.

Member Function Documentation

void youbot::FourSwedishWheelOmniBaseKinematic::cartesianPositionToWheelPositions	(	const quantity< si::length > &	longitudinalPosition,
		const quantity< si::length > &	transversalPosition,
		const quantity< plane_angle > &	orientation,
		std::vector< quantity< plane_angle > > &	wheelPositions
	)		`[virtual]`

Calculates from the cartesian position the wheel positions

Parameters:

longitudinalPosition	is the forward or backward position
transversalPosition	is the sideway position
orientation	is the rotation around the center
wheelPositions	are the individual positions of the wheels

Definition at line 211 of file FourSwedishWheelOmniBaseKinematic.cpp.

void youbot::FourSwedishWheelOmniBaseKinematic::cartesianVelocityToWheelVelocities	(	const quantity< si::velocity > &	longitudinalVelocity,
		const quantity< si::velocity > &	transversalVelocity,
		const quantity< si::angular_velocity > &	angularVelocity,
		std::vector< quantity< angular_velocity > > &	wheelVelocities
	)		`[virtual]`

Calculates from the cartesian velocity the individual wheel velocities

Parameters:

longitudinalVelocity	is the forward or backward velocity
transversalVelocity	is the sideway velocity
angularVelocity	is the rotational velocity around the center of the YouBot
wheelVelocities	are the individual wheel velocities

Definition at line 73 of file FourSwedishWheelOmniBaseKinematic.cpp.

void youbot::FourSwedishWheelOmniBaseKinematic::getConfiguration ( FourSwedishWheelOmniBaseKinematicConfiguration & configuration ) const

Definition at line 253 of file FourSwedishWheelOmniBaseKinematic.cpp.

void youbot::FourSwedishWheelOmniBaseKinematic::setConfiguration ( const FourSwedishWheelOmniBaseKinematicConfiguration & configuration )

Definition at line 245 of file FourSwedishWheelOmniBaseKinematic.cpp.

void youbot::FourSwedishWheelOmniBaseKinematic::wheelPositionsToCartesianPosition	(	const std::vector< quantity< plane_angle > > &	wheelPositions,
		quantity< si::length > &	longitudinalPosition,
		quantity< si::length > &	transversalPosition,
		quantity< plane_angle > &	orientation
	)		`[virtual]`

Calculates from the wheel positions the cartesian position

Parameters:

wheelPositions	are the individual positions of the wheels
longitudinalPosition	is the forward or backward position
transversalPosition	is the sideway position
orientation	is the rotation around the center

Implements youbot::WheeledBaseKinematic.

Definition at line 147 of file FourSwedishWheelOmniBaseKinematic.cpp.

void youbot::FourSwedishWheelOmniBaseKinematic::wheelVelocitiesToCartesianVelocity	(	const std::vector< quantity< angular_velocity > > &	wheelVelocities,
		quantity< si::velocity > &	longitudinalVelocity,
		quantity< si::velocity > &	transversalVelocity,
		quantity< angular_velocity > &	angularVelocity
	)		`[virtual]`

Calculates from the wheel velocities the cartesian velocity

Parameters:

wheelVelocities	are the velocities of the individual wheels
longitudinalVelocity	is the forward or backward velocity
transversalVelocity	is the sideway velocity
angularVelocity	is the rotational velocity around the center of the YouBot

Implements youbot::WheeledBaseKinematic.

Definition at line 111 of file FourSwedishWheelOmniBaseKinematic.cpp.