Class CVehicleSimul_DiffDriven

Inheritance Relationships

Base Type

Class Documentation

class CVehicleSimul_DiffDriven : public mrpt::kinematics::CVehicleSimulVirtualBase

Simulates the kinematics of a differential-driven planar mobile robot/vehicle, including odometry errors and dynamics limitations.

Public Types

using kinematic_cmd_t = CVehicleVelCmd_DiffDriven

Public Functions

CVehicleSimul_DiffDriven()
~CVehicleSimul_DiffDriven() override
inline void setDelayModelParams(double TAU_delay_sec = 1.8, double CMD_delay_sec = 0.)

Change the model of delays used for the orders sent to the robot

See also

movementCommand

inline void setV(double v)
inline void setW(double w)
inline double getV()
inline double getW()
void movementCommand(double lin_vel, double ang_vel)

Used to command the robot a desired movement:

Parameters:

  • lin_vel – Linar velocity (m/s)

  • ang_vel – Angular velocity (rad/s)

inline virtual void sendVelCmd(const CVehicleVelCmd &cmd_vel) override

Sends a velocity command to the robot. The number of components and their meaning depends on the vehicle-kinematics derived class

inline virtual CVehicleVelCmd::Ptr getVelCmdType() const override

Gets an empty velocity command object that can be queried to find out the number of velcmd components,…