#include <UndercarriageCtrlGeom.h>

Inheritance diagram for WheelData:

Public Member Functions
double	getVelX () const

double	getVelY () const

void	updateState (const WheelState &state)

	WheelData (const WheelGeom &geom)

Static Public Member Functions
static double	mergeRotRobRadS (const WheelData &wheel1, const WheelData &wheel2)

Public Attributes
double	dFactorVel

WheelGeom	geom_

double	m_dExWheelAngRad

double	m_dExWheelDistMM

double	m_dExWheelXPosMM

double	m_dExWheelYPosMM

double	m_dVelWheelMMS

WheelState	state_

Detailed Description

Definition at line 65 of file UndercarriageCtrlGeom.h.

Constructor & Destructor Documentation

◆ WheelData()

WheelData::WheelData ( const WheelGeom & geom )

inline

Definition at line 93 of file UndercarriageCtrlGeom.h.

Member Function Documentation

◆ getVelX()

double WheelData::getVelX ( ) const

Definition at line 84 of file UndercarriageCtrlGeom.cpp.

◆ getVelY()

double WheelData::getVelY ( ) const

Definition at line 87 of file UndercarriageCtrlGeom.cpp.

◆ mergeRotRobRadS()

double WheelData::mergeRotRobRadS	(	const WheelData &	wheel1,
		const WheelData &	wheel2
	)

static

Definition at line 69 of file UndercarriageCtrlGeom.cpp.

◆ updateState()

void WheelData::updateState ( const WheelState & state )

Definition at line 53 of file UndercarriageCtrlGeom.cpp.

Member Data Documentation

◆ dFactorVel

double WheelData::dFactorVel

Factor between steering motion and steering induced motion of drive wheels subtract from Drive-Wheel Vel to get effective Drive Velocity (Direct Kinematics) add to Drive-Wheel Vel (Inverse Kinematics) to account for coupling when commanding velos

Definition at line 72 of file UndercarriageCtrlGeom.h.

◆ geom_

WheelGeom WheelData::geom_

Definition at line 66 of file UndercarriageCtrlGeom.h.

◆ m_dExWheelAngRad

double WheelData::m_dExWheelAngRad

Definition at line 83 of file UndercarriageCtrlGeom.h.

◆ m_dExWheelDistMM

double WheelData::m_dExWheelDistMM

Definition at line 82 of file UndercarriageCtrlGeom.h.

◆ m_dExWheelXPosMM

double WheelData::m_dExWheelXPosMM

Exact Position of the Wheels' itself in cartesian (X/Y) and polar (Dist/Ang) coordinates relative to robot coordinate System

Definition at line 80 of file UndercarriageCtrlGeom.h.

◆ m_dExWheelYPosMM

double WheelData::m_dExWheelYPosMM

Definition at line 81 of file UndercarriageCtrlGeom.h.

◆ m_dVelWheelMMS

double WheelData::m_dVelWheelMMS

Definition at line 85 of file UndercarriageCtrlGeom.h.

◆ state_

WheelState WheelData::state_

Definition at line 74 of file UndercarriageCtrlGeom.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes