Omnidirectional

Omnidirectional#

#include "navground/core/kinematics.h"
class OmnidirectionalKinematics : public navground::core::Kinematics#

Unconstrained kinematics (e.g., quad-copters)

Public Functions

inline explicit OmnidirectionalKinematics(ng_float_t max_speed = Kinematics::inf, ng_float_t max_angular_speed = Kinematics::inf)#

Constructs a new instance.

Parameters:

  • max_speed – [in] The maximal speed

  • max_angular_speed – [in] The maximal angular speed

inline virtual unsigned dof() const override#

Returns the degrees of freedom.

Returns:

3

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