00001 #ifndef YOUBOT_WHEELEDBASEKINEMATIC_H 00002 #define YOUBOT_WHEELEDBASEKINEMATIC_H 00003 00004 /**************************************************************** 00005 * 00006 * Copyright (c) 2011 00007 * All rights reserved. 00008 * 00009 * Hochschule Bonn-Rhein-Sieg 00010 * University of Applied Sciences 00011 * Computer Science Department 00012 * 00013 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00014 * 00015 * Author: 00016 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov 00017 * Supervised by: 00018 * Gerhard K. Kraetzschmar 00019 * 00020 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00021 * 00022 * This sofware is published under a dual-license: GNU Lesser General Public 00023 * License LGPL 2.1 and BSD license. The dual-license implies that users of this 00024 * code may choose which terms they prefer. 00025 * 00026 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00027 * 00028 * Redistribution and use in source and binary forms, with or without 00029 * modification, are permitted provided that the following conditions are met: 00030 * 00031 * * Redistributions of source code must retain the above copyright 00032 * notice, this list of conditions and the following disclaimer. 00033 * * Redistributions in binary form must reproduce the above copyright 00034 * notice, this list of conditions and the following disclaimer in the 00035 * documentation and/or other materials provided with the distribution. 00036 * * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its 00037 * contributors may be used to endorse or promote products derived from 00038 * this software without specific prior written permission. 00039 * 00040 * This program is free software: you can redistribute it and/or modify 00041 * it under the terms of the GNU Lesser General Public License LGPL as 00042 * published by the Free Software Foundation, either version 2.1 of the 00043 * License, or (at your option) any later version or the BSD license. 00044 * 00045 * This program is distributed in the hope that it will be useful, 00046 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00047 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00048 * GNU Lesser General Public License LGPL and the BSD license for more details. 00049 * 00050 * You should have received a copy of the GNU Lesser General Public 00051 * License LGPL and BSD license along with this program. 00052 * 00053 ****************************************************************/ 00054 #include <vector> 00055 #include <string> 00056 #include <youbot_driver/generic/Units.hpp> 00057 namespace youbot 00058 { 00059 00063 class BaseKinematic 00064 { 00065 }; 00069 class WheeledBaseKinematic : public BaseKinematic 00070 { 00071 public: 00072 virtual void cartesianVelocityToWheelVelocities(const quantity<si::velocity>& longitudinalVelocity, 00073 const quantity<si::velocity>& transversalVelocity, 00074 const quantity<angular_velocity>& angularVelocity, 00075 std::vector<quantity<angular_velocity> >& wheelVelocities) = 0; 00076 00077 virtual void wheelVelocitiesToCartesianVelocity(const std::vector<quantity<angular_velocity> >& wheelVelocities, 00078 quantity<si::velocity>& longitudinalVelocity, 00079 quantity<si::velocity>& transversalVelocity, 00080 quantity<angular_velocity>& angularVelocity) = 0; 00081 00082 virtual void wheelPositionsToCartesianPosition(const std::vector<quantity<plane_angle> >& wheelPositions, 00083 quantity<si::length>& longitudinalPosition, 00084 quantity<si::length>& transversalPosition, 00085 quantity<plane_angle>& orientation) = 0; 00086 00087 }; 00088 00089 } // namespace youbot 00090 #endif