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38 double vel,
double dir,
double ramp_time,
double rot_speed);
45 "Wrong vehicle kinematic class, expected `CVehicleVelCmd_Holo`");
49 cmd->ramp_time, cmd->rot_speed);
This class can be used to simulate the kinematics and dynamics of a differential driven planar mobile...
double phi
Orientation (rads)
void sendVelCmd(const CVehicleVelCmd &cmd_vel) override
Sends a velocity command to the robot.
TVelRampCmd m_vel_ramp_cmd
the last cmd received from the user.
CVehicleVelCmd_Holo kinematic_cmd_t
Kinematic simulator of a holonomic 2D robot capable of moving in any direction, with "blended" veloci...
CVehicleVelCmd::Ptr getVelCmdType() const override
Gets an empty velocity command object that can be queried to find out the number of velcmd components...
#define ASSERTMSG_(f, __ERROR_MSG)
Defines an assertion mechanism.
std::shared_ptr< CVehicleVelCmd > Ptr
void internal_clear() override
Resets all pending cmds.
void internal_simulControlStep(const double dt) override
double issue_time
time when the cmd was issued.
mrpt::math::TPose2D m_odometry
mrpt::math::TTwist2D init_vel
Virtual base for velocity commands of different kinematic models of planar mobile robot.
2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega)
void sendVelRampCmd(double vel, double dir, double ramp_time, double rot_speed)
Sends a velocity cmd to the holonomic robot.
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