Wheeled kinematics based class

#include "navground/core/kinematics.h"

using navground::core::WheelSpeeds = std::vector<ng_float_t>

A vector that holds wheel speeds. The order depends on the kinematics.

class WheeledKinematics : public virtual navground::core::Kinematics

Abstract class for kinematics that have wheels and are completely determined when the speed of each wheel is known.

Subclassed by navground::core::FourWheelsOmniDriveKinematics, navground::core::TwoWheelsDifferentialDriveKinematics

Public Functions

inline virtual bool is_wheeled() const override

Returns whether the kinematics has wheels.

Returns:

True

virtual Twist2 twist(const WheelSpeeds &value) const = 0

Convert wheel speeds to a twist.

Parameters:

value – [in] The wheel speeds

Returns:

The corresponding twist

virtual WheelSpeeds wheel_speeds(const Twist2 &value) const = 0

Convert a twist to wheel speeds.

Parameters:

value – [in] The twist

Returns:

The corresponding wheel speeds.

inline virtual WheelSpeeds feasible_wheel_speeds(const Twist2 &value) const

Convert a twist to feasible wheel speeds.

Parameters:

value – [in] The twist

Returns:

The corresponding wheel speeds.