44 lines
1.4 KiB
C++
44 lines
1.4 KiB
C++
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/**
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* Copyright 2020 Jonathan Bayless
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*
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* Use of this source code is governed by an MIT-style license that can be found
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* in the LICENSE file or at https://opensource.org/licenses/MIT.
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*/
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#ifndef _PHYSICAL_MODEL_PHYSICAL_MODEL_HPP_
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#define _PHYSICAL_MODEL_PHYSICAL_MODEL_HPP_
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#include "constraints.hpp"
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#include "geometry/pose.hpp"
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namespace squiggles {
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class PhysicalModel {
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public:
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/**
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* Calculate a set of stricter constraints for the path at the given state
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* than the general constraints based on the robot's kinematics.
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*
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* @param pose The 2D pose for this state in the path.
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* @param curvature The change in heading at this state in the path in 1 /
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* meters.
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* @param vel The linear velocity at this state in the path in meters per
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* second.
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*/
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virtual Constraints
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constraints(const Pose pose, double curvature, double vel) = 0;
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/**
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* Converts a linear velocity and desired curvature into the component for
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* each wheel of the robot.
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*
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* @param linear The linear velocity for the robot in meters per second.
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* @param curvature The change in heading for the robot in 1 / meters.
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*/
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virtual std::vector<double> linear_to_wheel_vels(double linear,
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double curvature) = 0;
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virtual std::string to_string() const = 0;
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};
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} // namespace squiggles
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#endif
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