ergodic_exploration::models::Cart Struct Reference

Kinematic model of 2 wheel differential drive robot. More...

#include <cart.hpp>

Public Member Functions
	Cart (double wheel_radius, double wheel_base)
	Constructor. More...
mat	fdu (const vec x) const
	Jacobian of the model with respect to the control. More...
mat	fdx (const vec x, const vec u) const
	Jacobian of the model with respect to the state. More...
vec	operator() (const vec x, const vec u) const
	Kinematic model of a 2 wheel differential drive robot. More...
vec	wheels2Twist (const vec u) const
	Convert wheel velocities to a body frame twist. More...

Public Attributes
unsigned int	state_space
double	wheel_base
double	wheel_radius

Detailed Description

Kinematic model of 2 wheel differential drive robot.

The state is [x, y, theta] and controls are the velocities of each wheel [u0, u1] corresponding to the left and right wheels

Definition at line 60 of file cart.hpp.

Constructor & Destructor Documentation

Cart()

ergodic_exploration::models::Cart::Cart ( double  wheel_radius, double  wheel_base  )

inline

Constructor.

Parameters

wheel_radius	- radius of wheel
wheel_base	- distance from point at the center in between both wheels to the center of a wheel

Definition at line 68 of file cart.hpp.

Member Function Documentation

fdu()

mat ergodic_exploration::models::Cart::fdu ( const vec  x ) const

inline

Jacobian of the model with respect to the control.

Parameters

x	- state [x, y, theta]

Returns

B = D2(f(x,u)) of shape (3x2)

Definition at line 126 of file cart.hpp.

fdx()

mat ergodic_exploration::models::Cart::fdx ( const vec  x, const vec  u  ) const

inline

Jacobian of the model with respect to the state.

Parameters

x	- state [x, y, theta]
u	- control [uL, uR]

Returns

A = D1(f(x,u)) of shape (3x3)

Definition at line 108 of file cart.hpp.

operator()()

vec ergodic_exploration::models::Cart::operator() ( const vec  x, const vec  u  ) const

inline

Kinematic model of a 2 wheel differential drive robot.

Parameters

x	- state [x, y, theta]
u	- control [uL, uR]

Returns

[xdot, ydot, thetadot] = f(x,u)

Definition at line 92 of file cart.hpp.

wheels2Twist()

vec ergodic_exploration::models::Cart::wheels2Twist ( const vec  u ) const

inline

Convert wheel velocities to a body frame twist.

Parameters

u	- control [u0, u1]

Returns

twist in body frame Vb = [vx, vy, w]

Definition at line 78 of file cart.hpp.

Member Data Documentation

state_space

unsigned int ergodic_exploration::models::Cart::state_space

Definition at line 144 of file cart.hpp.

wheel_base

double ergodic_exploration::models::Cart::wheel_base

Definition at line 143 of file cart.hpp.

wheel_radius

double ergodic_exploration::models::Cart::wheel_radius

Definition at line 142 of file cart.hpp.

---

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

• cart.hpp