class mrpt::kinematics::CVehicleVelCmd_DiffDriven

Overview

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

#include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>

class CVehicleVelCmd_DiffDriven: public mrpt::kinematics::CVehicleVelCmd
{
public:
    // fields

    double lin_vel {.0};
    double ang_vel {.0};

    // methods

    virtual size_t getVelCmdLength() const;
    virtual std::string getVelCmdDescription(const int index) const;
    virtual double getVelCmdElement(const int index) const;
    virtual void setVelCmdElement(const int index, const double val);
    virtual bool isStopCmd() const;
    virtual void setToStop();
    virtual void cmdVel_scale(double vel_scale);
    virtual double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta, const TVelCmdParams& params);
};

Inherited Members

public:
    // structs

    struct TVelCmdParams;

    // methods

    CVehicleVelCmd& operator = (const CVehicleVelCmd& other);
    virtual size_t getVelCmdLength() const = 0;
    virtual std::string getVelCmdDescription(const int index) const = 0;
    virtual double getVelCmdElement(const int index) const = 0;
    virtual void setVelCmdElement(const int index, const double val) = 0;
    virtual bool isStopCmd() const = 0;
    virtual void setToStop() = 0;
    virtual std::string asString() const;
    virtual void cmdVel_scale(double vel_scale) = 0;
    virtual double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta, const TVelCmdParams& params) = 0;

Fields

double lin_vel {.0}

Linear velocity (m/s)

double ang_vel {.0}

Angular velocity (rad/s)

Methods

virtual size_t getVelCmdLength() const

Get number of components in each velocity command.

virtual std::string getVelCmdDescription(const int index) const

Get textual, human-readable description of each velocity command component.

virtual double getVelCmdElement(const int index) const

Get each velocity command component.

virtual void setVelCmdElement(const int index, const double val)

Set each velocity command component.

virtual bool isStopCmd() const

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