rec::robotino::api2::OmniDriveModel Class Reference

Project single motor speeds to velocity vector and vice versa. More...

#include <OmniDriveModel.h>

Public Member Functions
void	setRb (double rb)
void	setRw (double rw)
void	setGear (double gear)
double	rb () const
double	rw () const
double	gear () const
void	project (float *m1, float *m2, float *m3, float vx, float vy, float omega) const
void	unproject (float *vx, float *vy, float *omega, float m1, float m2, float m3) const

Detailed Description

Project single motor speeds to velocity vector and vice versa.

Member Function Documentation

double rec::robotino::api2::OmniDriveModel::gear ( ) const

inline

Returns

gear.

Referenced by setGear().

void rec::robotino::api2::OmniDriveModel::project ( float *  m1, float *  m2, float *  m3, float  vx, float  vy, float  omega  ) const

inline

Project the velocity of the robot in cartesian coordinates to single motor speeds.

Parameters

m1	The resulting speed of motor 1 in rpm
m2	The resulting speed of motor 2 in rpm
m3	The resulting speed of motor 3 in rpm
vx	Velocity in x-direction in m/s
vy	Velocity in y-direction in m/s
omega	Angular velocity in rad/s

Exceptions

RobotinoException

if no valid drive layout parameters are available.

Remarks

This function is thread save

double rec::robotino::api2::OmniDriveModel::rb ( ) const

inline

Returns

Distance from robot center to wheel center in m.

Referenced by setRb().

double rec::robotino::api2::OmniDriveModel::rw ( ) const

inline

Returns

Radius of the wheels in m.

Referenced by setRw().

void rec::robotino::api2::OmniDriveModel::setGear ( double  gear )

inline

Sets the gear.

Parameters

gear

Gear

References gear().

void rec::robotino::api2::OmniDriveModel::setRb ( double  rb )

inline

Sets the distance from robot center to wheel center.

Parameters

rb	Distance from robot center to wheel center in m.

References rb().

void rec::robotino::api2::OmniDriveModel::setRw ( double  rw )

inline

Sets the radius of the wheels.

Parameters

rw	Radius of the wheels in m.

References rw().

void rec::robotino::api2::OmniDriveModel::unproject ( float *  vx, float *  vy, float *  omega, float  m1, float  m2, float  m3  ) const

inline

Project single motor speeds to velocity in cartesian coordinates.

Parameters

vx	The resulting speed in x-direction in m/s
vy	The resulting speed in y-direction in m/s
omega	The resulting angular velocity in rad/s
m1	Speed of motor 1 in rpm
m2	Speed of motor 2 in rpm
m3	Speed of motor 3 in rpm

Exceptions

RobotinoException

if no valid drive layout parameters are available.

Remarks

This function is thread save

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

• C:/srcs/git/openrobotino/api2/lib/rec/robotino/api2/OmniDriveModel.h