TankKinematics Class Reference

#include <tank_kinematics.h>

Description

Helper class that converts a chassis velocity (vx and omega) to left and right wheel velocities for a tank drive.

Inverse kinematics converts a desired chassis velocity into left and right velocity components whereas forward kinematics converts left and right component velocities into a linear and angular chassis velocity.

Public Member Functions
	TankKinematics (units::Length track_width)
	Constructs a tank drive kinematics object.
ChassisVelocities	to_chassis_velocities (const TankWheelVelocities &wheel_velocities) const
	Returns a chassis velocity from left and right component velocities using forward kinematics.
TankWheelVelocities	to_wheel_velocities (const ChassisVelocities &chassis_velocities) const
	Returns left and right component velocities from a chassis velocity using inverse kinematics.
ChassisAccelerations	to_chassis_accelerations (const TankWheelAccelerations &wheel_accels) const
	Returns a chassis acceleration from left and right component accelerations using forward kinematics.
TankWheelAccelerations	to_wheel_accelerations (const ChassisAccelerations &chassis_accels) const
	Returns left and right component accelerations from a chassis acceleration using inverse kinematics.

Public Attributes
units::Length	track_width
	Distance between the left and right wheels (often tuned empirically).

Constructor & Destructor Documentation

TankKinematics()

TankKinematics::TankKinematics ( units::Length track_width )

inlineexplicit

Constructs a tank drive kinematics object.

Parameters

track_width

The physical (or effective) distance between left and right wheels.

Member Function Documentation

to_chassis_accelerations()

ChassisAccelerations TankKinematics::to_chassis_accelerations ( const TankWheelAccelerations & wheel_accels ) const

inline

Returns a chassis acceleration from left and right component accelerations using forward kinematics.

Parameters

wheel_accels

The left and right accelerations.

Returns

The chassis acceleration.

to_chassis_velocities()

ChassisVelocities TankKinematics::to_chassis_velocities ( const TankWheelVelocities & wheel_velocities ) const

inline

Returns a chassis velocity from left and right component velocities using forward kinematics.

Parameters

wheel_velocities

The left and right velocities.

Returns

The chassis velocity.

to_wheel_accelerations()

TankWheelAccelerations TankKinematics::to_wheel_accelerations ( const ChassisAccelerations & chassis_accels ) const

inline

Returns left and right component accelerations from a chassis acceleration using inverse kinematics.

Parameters

chassis_accels

The linear and angular components that represent the chassis' acceleration.

Returns

The left and right accelerations.

to_wheel_velocities()

TankWheelVelocities TankKinematics::to_wheel_velocities ( const ChassisVelocities & chassis_velocities ) const

inline

Returns left and right component velocities from a chassis velocity using inverse kinematics.

Parameters

chassis_velocities

The linear and angular components that represent the chassis' velocity.

Returns

The left and right velocities.

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

• core/math/kinematics/tank_kinematics.h