Public Attributes | List of all members
teb_local_planner::TebConfig::Robot Struct Reference

Robot related parameters. More...

#include <teb_config.h>

Public Attributes

double acc_lim_theta
 Maximum angular acceleration of the robot. More...
 
double acc_lim_x
 Maximum translational acceleration of the robot. More...
 
double acc_lim_y
 Maximum strafing acceleration of the robot. More...
 
bool cmd_angle_instead_rotvel
 Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance') More...
 
bool is_footprint_dynamic
 
double max_vel_theta
 Maximum angular velocity of the robot. More...
 
double max_vel_x
 Maximum translational velocity of the robot. More...
 
double max_vel_x_backwards
 Maximum translational velocity of the robot for driving backwards. More...
 
double max_vel_y
 Maximum strafing velocity of the robot (should be zero for non-holonomic robots!) More...
 
double min_turning_radius
 Minimum turning radius of a carlike robot (diff-drive robot: zero);. More...
 
double wheelbase
 The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots! More...
 

Detailed Description

Robot related parameters.

Definition at line 92 of file teb_config.h.

Member Data Documentation

double teb_local_planner::TebConfig::Robot::acc_lim_theta

Maximum angular acceleration of the robot.

Definition at line 100 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::acc_lim_x

Maximum translational acceleration of the robot.

Definition at line 98 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::acc_lim_y

Maximum strafing acceleration of the robot.

Definition at line 99 of file teb_config.h.

bool teb_local_planner::TebConfig::Robot::cmd_angle_instead_rotvel

Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance')

Definition at line 103 of file teb_config.h.

bool teb_local_planner::TebConfig::Robot::is_footprint_dynamic

Definition at line 104 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::max_vel_theta

Maximum angular velocity of the robot.

Definition at line 97 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::max_vel_x

Maximum translational velocity of the robot.

Definition at line 94 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::max_vel_x_backwards

Maximum translational velocity of the robot for driving backwards.

Definition at line 95 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::max_vel_y

Maximum strafing velocity of the robot (should be zero for non-holonomic robots!)

Definition at line 96 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::min_turning_radius

Minimum turning radius of a carlike robot (diff-drive robot: zero);.

Definition at line 101 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::wheelbase

The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots!

Definition at line 102 of file teb_config.h.


The documentation for this struct was generated from the following file:


teb_local_planner
Author(s): Christoph Rösmann
autogenerated on Wed Jun 3 2020 04:03:08