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

#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 ()

Public Member Functions inherited from youbot::WheeledBaseKinematic
virtual void	cartesianVelocityToWheelVelocities (const quantity< si::velocity > &longitudinalVelocity, const quantity< si::velocity > &transversalVelocity, const quantity< angular_velocity > &angularVelocity, std::vector< quantity< angular_velocity > > &wheelVelocities)=0

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 65 of file FourSwedishWheelOmniBaseKinematic.hpp.

Constructor & Destructor Documentation

youbot::FourSwedishWheelOmniBaseKinematic::FourSwedishWheelOmniBaseKinematic ( )

Definition at line 54 of file FourSwedishWheelOmniBaseKinematic.cpp.

youbot::FourSwedishWheelOmniBaseKinematic::~FourSwedishWheelOmniBaseKinematic ( )

virtual

Definition at line 60 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 184 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 70 of file FourSwedishWheelOmniBaseKinematic.cpp.

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

Definition at line 219 of file FourSwedishWheelOmniBaseKinematic.cpp.

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

Definition at line 213 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 130 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 103 of file FourSwedishWheelOmniBaseKinematic.cpp.