Toppra::OmniWheelGeometry Struct Reference

ARMAR-7's three-wheel drive, in the units VirtualRobot::OmniWheelPlatformKinematics uses: mm for the radii, rad for the angles. More...

#include <armarx/navigation/algorithms/parametrization/Toppra.h>

Public Attributes
float	bodyRadius {0.F}
float	delta {0.F}
float	gearRatio {1.F}
Eigen::Vector3i	invertWheel {Eigen::Vector3i::Zero()}
float	relativeAngle {0.F}
float	wheelRadius {0.F}

Detailed Description

ARMAR-7's three-wheel drive, in the units VirtualRobot::OmniWheelPlatformKinematics uses: mm for the radii, rad for the angles.

Definition at line 80 of file Toppra.h.

Member Data Documentation

bodyRadius

float bodyRadius {0.F}

Definition at line 82 of file Toppra.h.

delta

float delta {0.F}

Definition at line 84 of file Toppra.h.

gearRatio

float gearRatio {1.F}

Definition at line 86 of file Toppra.h.

invertWheel

Eigen::Vector3i invertWheel {Eigen::Vector3i::Zero()}

Definition at line 87 of file Toppra.h.

relativeAngle

float relativeAngle {0.F}

Definition at line 85 of file Toppra.h.

wheelRadius

float wheelRadius {0.F}

Definition at line 83 of file Toppra.h.

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

• armarx/navigation/algorithms/parametrization/Toppra.h