OmniWheelDrive Struct Reference

Limits of the omni-directional wheel drive, as on ARMAR-7. More...

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

Public Attributes
VirtualRobot::OmniWheelPlatformKinematicsParams	kinematics {}
float	maxWheelAcceleration {0.64F}
float	maxWheelDeceleration {1.02F}
float	maxWheelVelocity {3.82F}

Detailed Description

Limits of the omni-directional wheel drive, as on ARMAR-7.

Wheel velocities follow VirtualRobot::OmniWheelPlatformKinematics, whose forward model carries a factor 2 pi R / n. Wheel speeds are therefore in revolutions per second at the wheel, not rad/s.

Member Data Documentation

kinematics

VirtualRobot::OmniWheelPlatformKinematicsParams kinematics {}

maxWheelAcceleration

float maxWheelAcceleration {0.64F}

maxWheelDeceleration

float maxWheelDeceleration {1.02F}

maxWheelVelocity

float maxWheelVelocity {3.82F}

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

• armarx/navigation/simulation/TrajectoryFollowingSimulation.h