Class CVehicleSimul_Holo

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class CVehicleSimul_Holo : public mrpt::kinematics::CVehicleSimulVirtualBase

Kinematic simulator of a holonomic 2D robot capable of moving in any direction, with “blended” velocity profiles. See CVehicleSimul_Holo::sendVelCmd() for a description of the velocity commands in this kinematic model.

Public Types

using kinematic_cmd_t = CVehicleVelCmd_Holo

Public Functions

CVehicleSimul_Holo()
void sendVelRampCmd(double vel, double dir, double ramp_time, double rot_speed)

Sends a velocity cmd to the holonomic robot.

Parameters:

  • vel – [in] Linear speed (m/s)

  • dir – [in] Direction (rad) (In the odometry frame of reference)

  • ramp_time – [in] Blend the cmd during this period (seconds)

  • rot_speed – [in] Rotational speed while there is heading error and to this constant (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,…