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.

Definition at line 65 of file TrajectoryFollowingSimulation.h.