Code detalied desciption

class Robot

class Wheel

Subclassed by Robot::WheelFixed, Robot::WheelSteer

class WheelFixed : public Robot::Wheel

class WheelSteer : public Robot::Wheel

class Wheel

Subclassed by Robot::WheelFixed, Robot::WheelSteer

class WheelFixed : public Robot::Wheel

class WheelSteer : public Robot::Wheel

Public Functions

WheelSteer(char, char, float, float, float, float, float, float)

virtual void calculate(Robot*) override

inline virtual bool validate(Eigen::Vector3d&, float omega, float v, float vy)

virtual void robotWheelVel(double, std::array<double, 3> &f) override

przyjmuje prędkość liniową koła i zwraca prędkość(lin&ang) robota powodowaną przez dane koło (rzeczywisete)

Parameters

• f – velocity array [lin x | lin y | ang z]

• v – real vheel linear velocity

Private Members

std::array<float, 3> l_m_steerAngle