Kinematics

Schema

$id: http://navground/kinematics
$ref: kinematics_register
$schema: https://json-schema.org/draft/2020-12/schema
properties:
  max_angular_speed:
    type: number
  max_speed:
    type: number
  type:
    type: string
type: object
unevaluatedProperties: false

Register

$id: http://navground/kinematics_register
$schema: https://json-schema.org/draft/2020-12/schema
anyOf:
- properties:
    max_backward_speed:
      default: .inf
      description: Maximal backward linear speed
      type: number
    max_forward_speed:
      default: .inf
      description: Maximal forward linear speed
      type: number
    type:
      const: 2WDiff
    wheel_axis:
      default: 1
      description: Wheel Axis
      minimum: 0
      type: number
- properties:
    max_acceleration:
      default: 0
      description: Maximal acceleration
      minimum: 0
      type: number
    max_backward_speed:
      default: .inf
      description: Maximal backward linear speed
      type: number
    max_forward_speed:
      default: .inf
      description: Maximal forward linear speed
      type: number
    moi:
      default: 1
      description: Scaled moment of inertia
      minimum: 0
      type: number
    type:
      const: 2WDiffDyn
    wheel_axis:
      default: 1
      description: Wheel Axis
      minimum: 0
      type: number
- properties:
    type:
      const: 4WOmni
    wheel_axis:
      default: 1
      description: Wheel Axis
      minimum: 0
      type: number
- properties:
    type:
      const: Ahead
- properties:
    type:
      const: Omni

Example

type: 2WDiff
max_speed: 1.5
wheel_axis: 0.25