kinematics/differential_drive.hpp

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/*****************************************************************************
** Ifdefs
*****************************************************************************/

#ifndef ECL_MOBILE_ROBOT_DIFFERENTIAL_DRIVE_KINEMATICS_HPP_
#define ECL_MOBILE_ROBOT_DIFFERENTIAL_DRIVE_KINEMATICS_HPP_

/*****************************************************************************
** Includes
*****************************************************************************/

#include <ecl/config/macros.hpp>
#include <ecl/linear_algebra.hpp>
#include <ecl/geometry/legacy_pose2d.hpp>
#include "../macros.hpp"

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace ecl {

namespace mobile_robot {

/*****************************************************************************
** Interface
*****************************************************************************/

class ecl_mobile_robot_PUBLIC DifferentialDriveKinematics {
public:
        DifferentialDriveKinematics(
                        const double &fixed_axis_length,
                        const double& wheel_radius) :
                bias(fixed_axis_length),
                radius(wheel_radius)
        {}

        ecl::LegacyPose2D<double> forward(const double &dleft, const double &dright) const;

        ecl::LegacyPose2D<double> forwardWithPlatformVelocity(const double & linearVelocity, const double & angularVelocity ) const;

        ecl::linear_algebra::Vector2d inverse(const double &linear_velocity, const double &angular_velocity) const;

        ECL_DEPRECATED static ecl::linear_algebra::Vector2d Inverse(const ecl::linear_algebra::Vector3d &a, const ecl::linear_algebra::Vector3d &b);

        static ecl::linear_algebra::Vector2d PartialInverse(const ecl::LegacyPose2D<double> &a, const ecl::LegacyPose2D<double> &b);
private:
        double bias, radius;
};

} // namespace mobile_robot
} // namespace ecl

#endif /* ECL_MOBILE_ROBOT_DIFFERENTIAL_DRIVE_KINEMATICS_HPP_ */