FourSwedishWheelOmniBaseKinematicConfiguration.hpp

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#ifndef YOUBOT_FOURSWEDISHWHEELOMNIBASEKINEMATICCONFIGURATION_H
#define YOUBOT_FOURSWEDISHWHEELOMNIBASEKINEMATICCONFIGURATION_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     * Redistributions of source code must retain the above copyright
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 *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
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#include <vector>
#include <string>
#include <youbot_driver/generic/Logger.hpp>
#include <youbot_driver/generic/Units.hpp>
#include <youbot_driver/generic/Exceptions.hpp>
namespace youbot
{

class FourSwedishWheelOmniBaseKinematicConfiguration
{
public:
  FourSwedishWheelOmniBaseKinematicConfiguration();

  ~FourSwedishWheelOmniBaseKinematicConfiguration();

  FourSwedishWheelOmniBaseKinematicConfiguration(const FourSwedishWheelOmniBaseKinematicConfiguration & source);

  FourSwedishWheelOmniBaseKinematicConfiguration & operator=(
      const FourSwedishWheelOmniBaseKinematicConfiguration & source);

  quantity<si::length> wheelRadius;

  quantity<si::length> lengthBetweenFrontWheels;

  quantity<si::length> lengthBetweenFrontAndRearWheels;

  //how far sideways in one wheel rotation compared to forward
  double slideRatio;

  double rotationRatio;

};

} // namespace youbot
#endif