abstract class of a wheeled based / platform kinematic More...

Inheritance diagram for youbot::WheeledBaseKinematic:

Public Member Functions
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

virtual void	wheelPositionsToCartesianPosition (const std::vector< quantity< plane_angle > > &wheelPositions, quantity< si::length > &longitudinalPosition, quantity< si::length > &transversalPosition, quantity< plane_angle > &orientation)=0

virtual void	wheelVelocitiesToCartesianVelocity (const std::vector< quantity< angular_velocity > > &wheelVelocities, quantity< si::velocity > &longitudinalVelocity, quantity< si::velocity > &transversalVelocity, quantity< angular_velocity > &angularVelocity)=0

Detailed Description

abstract class of a wheeled based / platform kinematic

Definition at line 67 of file WheeledBaseKinematic.hpp.

Member Function Documentation

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

pure virtual

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

pure virtual

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

pure virtual

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