ergodic_exploration::models::SimpleCart Struct Reference

Kinematic model of a wheeled differential drive robot. More...

#include <cart.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...
vec	operator() (const vec x, const vec u) const
	Kinematic model of a 2 wheel differential drive robot. More...
	SimpleCart ()
	Constructor. More...

Public Attributes
unsigned int	state_space

Detailed Description

Kinematic model of a wheeled differential drive robot.

The state is [x, y, theta] and controls are the linear and angular velocities [vx, vy, w] (body twist)

Definition at line 152 of file cart.hpp.

Constructor & Destructor Documentation

SimpleCart()

ergodic_exploration::models::SimpleCart::SimpleCart ( )

inline

Constructor.

Definition at line 155 of file cart.hpp.

Member Function Documentation

fdu()

mat ergodic_exploration::models::SimpleCart::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 (3x3)

Definition at line 194 of file cart.hpp.

fdx()

mat ergodic_exploration::models::SimpleCart::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	- body twist control [vx, vy, w]

Returns

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

Definition at line 181 of file cart.hpp.

operator()()

vec ergodic_exploration::models::SimpleCart::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	- body twist control [vx, vy, w]

Returns

xdot = f(x,u)

Definition at line 165 of file cart.hpp.

Member Data Documentation

state_space

unsigned int ergodic_exploration::models::SimpleCart::state_space

Definition at line 205 of file cart.hpp.

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

• cart.hpp