Limits of the four-wheel mecanum drive, as on ARMAR-6 and ARMAR-DE. More...

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

Public Attributes
VirtualRobot::MecanumPlatformKinematicsParams	kinematics {}

float	maxWheelAcceleration {8.5F}

float	maxWheelDeceleration {8.5F}

float	maxWheelVelocity {21.1F}

Detailed Description

Limits of the four-wheel mecanum drive, as on ARMAR-6 and ARMAR-DE.

Wheel velocities follow VirtualRobot::MecanumPlatformKinematics, whose J() is R/4 * ... and therefore takes rad/s at the wheel – unlike the omni drive's C(), which takes rev/s. Note also that Simox has y pointing forwards, not x as in the paper, and orders the wheels [left front, right front, rear left, rear right].

Definition at line 84 of file TrajectoryFollowingSimulation.h.