#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 ( const WheelGeom & geom ) [inline]

Definition at line 93 of file UndercarriageCtrlGeom.h.

Member Function Documentation

double WheelData::getVelX ( ) const

Definition at line 84 of file UndercarriageCtrlGeom.cpp.

double WheelData::getVelY ( ) const

Definition at line 87 of file UndercarriageCtrlGeom.cpp.

double WheelData::mergeRotRobRadS	(	const WheelData &	wheel1,
		const WheelData &	wheel2
	)		`[static]`

Definition at line 69 of file UndercarriageCtrlGeom.cpp.

void WheelData::updateState ( const WheelState & state )

Definition at line 53 of file UndercarriageCtrlGeom.cpp.

Member Data Documentation

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.

WheelGeom WheelData::geom_

Definition at line 66 of file UndercarriageCtrlGeom.h.

double WheelData::m_dExWheelAngRad

Definition at line 83 of file UndercarriageCtrlGeom.h.

double WheelData::m_dExWheelDistMM

Definition at line 82 of file UndercarriageCtrlGeom.h.

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.

double WheelData::m_dExWheelYPosMM

Definition at line 81 of file UndercarriageCtrlGeom.h.