ergodic_exploration::models::Mecanum Struct Reference

Kinematic model of 4 mecanum wheel robot. More...

#include <omni.hpp>

Public Member Functions
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...
	Mecanum (double wheel_radius, double wheel_base_x, double wheel_base_y)
	Constructor. More...
vec	operator() (const vec x, const vec u) const
	Kinematic model of 4 mecanum wheel 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_x
double	wheel_base_y
double	wheel_radius

Detailed Description

Kinematic model of 4 mecanum wheel robot.

The state is [x, y, theta] and controls are the angular velocities of each wheel [u0, u1, u2, u3] corresponding to (front left, front right, rear right, rear left). Assumes the mecanum wheel rollers are at +/- 45 degrees

Definition at line 59 of file omni.hpp.

Constructor & Destructor Documentation

Mecanum()

ergodic_exploration::models::Mecanum::Mecanum ( double  wheel_radius, double  wheel_base_x, double  wheel_base_y  )

inline

Constructor.

Parameters

wheel_radius	- radius of wheel
wheel_base_x	- distance from chassis center to wheel center along x-axis
wheel_base_y	- distance from chassis center to wheel center along y-axis

Definition at line 67 of file omni.hpp.

Member Function Documentation

fdu()

mat ergodic_exploration::models::Mecanum::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 (3x4)

Definition at line 141 of file omni.hpp.

fdx()

mat ergodic_exploration::models::Mecanum::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 [u0, u1, u2, u3]

Returns

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

Definition at line 118 of file omni.hpp.

operator()()

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

inline

Kinematic model of 4 mecanum wheel robot.

Parameters

x	- state [x, y, theta]
u	- control [u0, u1, u2, u3]

Returns

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

Definition at line 98 of file omni.hpp.

wheels2Twist()

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

inline

Convert wheel velocities to a body frame twist.

Parameters

u	- control [u0, u1, u2, u3]

Returns

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

Definition at line 80 of file omni.hpp.

Member Data Documentation

state_space

unsigned int ergodic_exploration::models::Mecanum::state_space

Definition at line 156 of file omni.hpp.

wheel_base_x

double ergodic_exploration::models::Mecanum::wheel_base_x

Definition at line 154 of file omni.hpp.

wheel_base_y

double ergodic_exploration::models::Mecanum::wheel_base_y

Definition at line 155 of file omni.hpp.

wheel_radius

double ergodic_exploration::models::Mecanum::wheel_radius

Definition at line 153 of file omni.hpp.

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

• omni.hpp