00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Neobotix GmbH 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Neobotix nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 00036 #ifndef neo_diffdrivekinematics_h_ 00037 #define neo_diffdrivekinematics_h_ 00038 00039 #include <neo_PlatformCtrl/Kinematics.h> 00040 #include <geometry_msgs/Twist.h> 00041 #include <sensor_msgs/JointState.h> 00042 #include <trajectory_msgs/JointTrajectory.h> 00043 #include <trajectory_msgs/JointTrajectoryPoint.h> 00044 #include <nav_msgs/Odometry.h> 00045 00046 class Mecanum4WKinematics : public Kinematics 00047 { 00048 public: 00049 Mecanum4WKinematics(); 00050 void execForwKin(const sensor_msgs::JointState& js, nav_msgs::Odometry& odom, OdomPose& cpose); 00051 void execInvKin(const geometry_msgs::Twist& twist, trajectory_msgs::JointTrajectory& traj); 00052 /* 00053 robot: l1: m_dAxis1Length 00054 l2: m_dAxis2Length 00055 00056 --|##2##| |##4##| 00057 ^ ################## 00058 l1 ¦ ################## ^ y 00059 ¦ ################## ¦ 00060 v ################## x ¦ 00061 --|##1##| |##3##| <-----¦- 00062 | l2 | 00063 |<------------>| 00064 */ 00065 void setAxis1Length(double dLength); 00066 void setAxis2Length(double dLength); 00067 void setWheelDiameter(double dDiam); 00068 00069 private: 00070 double m_dAxis1Length; 00071 double m_dAxis2Length; 00072 double m_dDiam; 00073 }; 00074 00075 00076 #endif //neo_diffdrivekinematics_h_