armarx::navigation::simulation Namespace Reference

This file is part of ArmarX. More...

Classes
struct	CommandRateLimit
	The per-axis command ramp the platform device applies below the navigation stack. More...
struct	MecanumDrive
	Limits of the four-wheel mecanum drive, as on ARMAR-6 and ARMAR-DE. More...
struct	OmniWheelDrive
	Limits of the omni-directional wheel drive, as on ARMAR-7. More...
struct	OmniWheelTorqueDrive
	What the ARMAR-7 drive train can actually deliver. More...
struct	PlatformDynamics
	Dynamic limits of the simulated platform. More...
class	PlatformInertia
	Rigid-body inertia of the mobile platform, from the robot model. More...
class	TrajectoryFollowingSimulation
	Point-mass simulation of the platform following a global trajectory. More...

Enumerations
enum class	PlatformModel { Cartesian , OmniWheelVelocity , OmniWheelTorque , MecanumTorque }
	How the simulated base turns a commanded twist into an achieved one. More...

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author

Fabian Reister ( fabian dot reister at kit dot edu )

Date

2026

Copyright

http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Enumeration Type Documentation

PlatformModel

enum class PlatformModel

strong

How the simulated base turns a commanded twist into an achieved one.

Enumerator
Cartesian	Bound the magnitude of the twist change. Direction of the change is preserved.
OmniWheelVelocity	Bound each wheel's angular acceleration separately, so one saturating wheel also distorts the direction. Kinematic: the per-wheel bounds are placeholders.
OmniWheelTorque	Bound each motor's torque and speed, using the robot's real inertia. The physical model: required wrench -> wheel torques -> per-motor clip -> achieved acceleration.
MecanumTorque	As OmniWheelTorque, but for a four-wheel mecanum drive.

Definition at line 41 of file TrajectoryFollowingSimulation.h.