List of all members | Static Public Member Functions | Public Attributes
PlatformDynamics Struct Reference

Dynamic limits of the simulated platform. More...

#include <armarx/navigation/simulation/TrajectoryFollowingSimulation.h>

Static Public Member Functions

static PlatformDynamics FromPackagePath (const std::string &robot="Armar7")
 Read the dynamics from config/platform/PlatformDynamics<Robot>.json.
 

Public Attributes

float maxAngularAcceleration {0.5F}
 
float maxLinearAcceleration {500.F}
 
MecanumDrive mecanum
 
PlatformModel model {PlatformModel::Cartesian}
 
OmniWheelDrive omniWheel
 
OmniWheelTorqueDrive omniWheelTorque
 

Detailed Description

Dynamic limits of the simulated platform.

Nothing in the real stack enforces a bound on how fast the commanded twist may change: applyTwistLimits() bounds the velocity only, and the RT layer forwards the twist unchanged. (The armar7_omni device does rate-limit, but per Cartesian axis, downstream of the navigation stack.) These limits exist so the simulation can show the consequence — a base that cannot follow a velocity step lags behind the command and leaves the path.

Definition at line 181 of file TrajectoryFollowingSimulation.h.

Member Function Documentation

◆ FromPackagePath()

PlatformDynamics FromPackagePath ( const std::string & robot = "Armar7")
static

Read the dynamics from config/platform/PlatformDynamics<Robot>.json.

Parameters
robotPlatform name, spelled as the rest of the codebase does: Armar7, Armar6, ArmarDE.

Definition at line 46 of file TrajectoryFollowingSimulation.cpp.

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

Member Data Documentation

◆ maxAngularAcceleration

float maxAngularAcceleration {0.5F}

Definition at line 187 of file TrajectoryFollowingSimulation.h.

◆ maxLinearAcceleration

float maxLinearAcceleration {500.F}

Definition at line 185 of file TrajectoryFollowingSimulation.h.

◆ mecanum

MecanumDrive mecanum

Definition at line 191 of file TrajectoryFollowingSimulation.h.

◆ model

PlatformModel model {PlatformModel::Cartesian}

Definition at line 183 of file TrajectoryFollowingSimulation.h.

◆ omniWheel

OmniWheelDrive omniWheel

Definition at line 189 of file TrajectoryFollowingSimulation.h.

◆ omniWheelTorque

OmniWheelTorqueDrive omniWheelTorque

Definition at line 193 of file TrajectoryFollowingSimulation.h.

The documentation for this struct was generated from the following files: