Toppra::MecanumGeometry Struct Reference

ARMAR-6's and ARMAR-DE's four-wheel drive, following VirtualRobot::MecanumPlatformKinematics. More...

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

Public Attributes
float	gauge {0.F}
	Half the lateral wheel spacing (l1).
float	wheelbase {0.F}
	Half the longitudinal wheel spacing (l2).
float	wheelRadius {0.F}

Detailed Description

ARMAR-6's and ARMAR-DE's four-wheel drive, following VirtualRobot::MecanumPlatformKinematics.

All lengths in mm.

Member Data Documentation

gauge

float gauge {0.F}

Half the lateral wheel spacing (l1).

wheelbase

float wheelbase {0.F}

Half the longitudinal wheel spacing (l2).

wheelRadius

float wheelRadius {0.F}

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

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