Class CVehicleVelCmd_DiffDriven

Defined in File CVehicleVelCmd_DiffDriven.h

Inheritance Relationships

Base Type

public mrpt::kinematics::CVehicleVelCmd (Class CVehicleVelCmd)

Class Documentation

class CVehicleVelCmd_DiffDriven : public mrpt::kinematics::CVehicleVelCmd 

Kinematic model for Ackermann-like or differential-driven vehicles.

Public Functions

~CVehicleVelCmd_DiffDriven() override

virtual size_t getVelCmdLength() const override: Get number of components in each velocity command

virtual std::string getVelCmdDescription(const int index) const override: Get textual, human-readable description of each velocity command component

virtual double getVelCmdElement(const int index) const override: Get each velocity command component

virtual void setVelCmdElement(const int index, const double val) override: Set each velocity command component

virtual bool isStopCmd() const override

Returns true if the command means “do not move” / “stop”.

See also

virtual void setToStop() override

Set to a command that means “do not move” / “stop”.

See also

virtual void cmdVel_scale(double vel_scale) override: See docs of method in base class. The implementation for differential-driven robots of this method just multiplies all the components of vel_cmd times vel_scale, which is appropriate for differential-driven kinematic models (v,w).

virtual double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params) override: See base class docs. Tecognizes these parameters: robotMax_V_mps, robotMax_W_degps

Public Members

double lin_vel = {.0}: Linear velocity (m/s)

double ang_vel = {.0}: Angular velocity (rad/s)