45 lines
1.3 KiB
C++
45 lines
1.3 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_TANK_MODEL_HPP_
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#define _PHYSICAL_MODEL_TANK_MODEL_HPP_
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#include <tuple>
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#include <vector>
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#include "physicalmodel/physicalmodel.hpp"
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namespace squiggles {
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class TankModel : public PhysicalModel {
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public:
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/**
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* Defines a model of a tank drive or differential drive robot.
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*
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* @param itrack_width The distance between the the wheels on each side of the
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* robot in meters.
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* @param ilinear_constraints The maximum values for the robot's movement.
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*/
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TankModel(double itrack_width, Constraints ilinear_constraints);
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Constraints
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constraints(const Pose pose, double curvature, double vel) override;
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std::vector<double> linear_to_wheel_vels(double lin_vel,
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double curvature) override;
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std::string to_string() const override;
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private:
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double vel_constraint(const Pose pose, double curvature, double vel);
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std::tuple<double, double>
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accel_constraint(const Pose pose, double curvature, double vel) const;
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double track_width;
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Constraints linear_constraints;
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};
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} // namespace squiggles
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#endif
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