ergodic_exploration::models::Omni Struct Reference

Kinematic model of omni directonal robot. More...

#include <omni.hpp>

Public Member Functions
mat	fdu (const vec x) const
	Jacobian of the model with respect to the control. More...
mat	fdx (const vec x, const vec u) const
	Jacobian of the model with respect to the state. More...
	Omni ()
	Constructor. More...
vec	operator() (const vec x, const vec u) const
	Kinematic model of 4 mecanum wheel robot. More...

Public Attributes
unsigned int	state_space

Detailed Description

Kinematic model of omni directonal robot.

The state is [x, y, theta] and controls are the linear and angular velocities [vx, vy, w] (body twist)

Definition at line 164 of file omni.hpp.

Constructor & Destructor Documentation

Omni()

ergodic_exploration::models::Omni::Omni ( )

inline

Constructor.

Definition at line 167 of file omni.hpp.

Member Function Documentation

fdu()

mat ergodic_exploration::models::Omni::fdu ( const vec  x ) const

inline

Jacobian of the model with respect to the control.

Parameters

x	- state [x, y, theta]

Returns

B = D2(f(x,u)) of shape (3x3)

Definition at line 205 of file omni.hpp.

fdx()

mat ergodic_exploration::models::Omni::fdx ( const vec  x, const vec  u  ) const

inline

Jacobian of the model with respect to the state.

Parameters

x	- state [x, y, theta]
u	- body twist control [vx, vy, w]

Returns

A = D1(f(x,u)) of shape (3x3)

Definition at line 192 of file omni.hpp.

operator()()

vec ergodic_exploration::models::Omni::operator() ( const vec  x, const vec  u  ) const

inline

Kinematic model of 4 mecanum wheel robot.

Parameters

x	- state [x, y, theta]
u	- body twist control [vx, vy, w]

Returns

[xdot, ydot, thetadot] = f(x,u)

Definition at line 177 of file omni.hpp.

Member Data Documentation

state_space

unsigned int ergodic_exploration::models::Omni::state_space

Definition at line 214 of file omni.hpp.

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

• omni.hpp