Four wheels omnidirectional drive

module:

navground.core.kinematics

class FourWheelsOmniDriveKinematics

Bases: WheeledKinematics

Four Omni-differential wheels (e.g., a Robomaster)

Warning

We assume that the distance between front and back wheel centers is the same as the lateral distance.

__init__(max_speed: float = float('inf'), wheel_axis: float = 1) → None

Constructs a new instance.

Parameters:

• max_speed – The maximal wheel speed

• wheel_axis – The wheel axis (i.e., the distance between the wheels)

property wheel_axis

Type:

float

The wheel axis.