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HolonomicMotionModel.h File Reference


Detailed Description

Defines HolonomicMotionModel, which can model the path of a holonomic robot.

Author:
Ethan Tira-Thompson (ejt) (Creator)
Author
ejt
Name
tekkotsu-4_0
Revision
1.5
State
Exp
Date
2007/11/10 22:58:09

Definition in file HolonomicMotionModel.h.

#include "Shared/ParticleFilter.h"
#include "Shared/LocalizationParticle.h"
#include "Shared/get_time.h"
#include "Shared/zignor.h"
#include <cmath>

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Classes

class  HolonomicMotionModel< ParticleT >
 This class can model the path of a holonomic robot in two dimensions (x and y). More...

Functions

void computeHolonomicMotion (float xvel, float yvel, float avel, float time, float &xpos, float &ypos, float &apos)
 the main function -- to avoid numeric issues, treats paths that would result in a radius over 1e6 long as a straight line


Function Documentation

void computeHolonomicMotion ( float  xvel,
float  yvel,
float  avel,
float  time,
float &  xpos,
float &  ypos,
float &  apos 
)

the main function -- to avoid numeric issues, treats paths that would result in a radius over 1e6 long as a straight line

see HolonomicMotionModel class notes for more information on the math involved

Definition at line 3 of file HolonomicMotionModel.cc.

Referenced by HolonomicMotionModel< ParticleT >::getPosition(), HolonomicMotionModel< ParticleT >::setVelocity(), and HolonomicMotionModel< ParticleT >::updateMotion().


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