teb_local_planner::TebConfig::Robot Struct Reference

Robot related parameters. More...

#include <teb_config.h>

List of all members.

Public Attributes
double	acc_lim_theta
	Maximum angular acceleration of the robot.
double	acc_lim_x
	Maximum translational acceleration of the robot.
double	acc_lim_y
	Maximum strafing acceleration of the robot.
bool	cmd_angle_instead_rotvel
	Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance')
double	max_vel_theta
	Maximum angular velocity of the robot.
double	max_vel_x
	Maximum translational velocity of the robot.
double	max_vel_x_backwards
	Maximum translational velocity of the robot for driving backwards.
double	max_vel_y
	Maximum strafing velocity of the robot (should be zero for non-holonomic robots!)
double	min_turning_radius
	Minimum turning radius of a carlike robot (diff-drive robot: zero);.
double	wheelbase
	The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots!

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Detailed Description

Robot related parameters.

Definition at line 90 of file teb_config.h.

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Member Data Documentation

double teb_local_planner::TebConfig::Robot::acc_lim_theta

Maximum angular acceleration of the robot.

Definition at line 98 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::acc_lim_x

Maximum translational acceleration of the robot.

Definition at line 96 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::acc_lim_y

Maximum strafing acceleration of the robot.

Definition at line 97 of file teb_config.h.

bool teb_local_planner::TebConfig::Robot::cmd_angle_instead_rotvel

Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance')

Definition at line 101 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::max_vel_theta

Maximum angular velocity of the robot.

Definition at line 95 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::max_vel_x

Maximum translational velocity of the robot.

Definition at line 92 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::max_vel_x_backwards

Maximum translational velocity of the robot for driving backwards.

Definition at line 93 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::max_vel_y

Maximum strafing velocity of the robot (should be zero for non-holonomic robots!)

Definition at line 94 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::min_turning_radius

Minimum turning radius of a carlike robot (diff-drive robot: zero);.

Definition at line 99 of file teb_config.h.

double teb_local_planner::TebConfig::Robot::wheelbase

The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots!

Definition at line 100 of file teb_config.h.

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

• teb_config.h