50 #ifndef _MIRA_GENERICROBOTMODEL_H_ 51 #define _MIRA_GENERICROBOTMODEL_H_ 53 namespace mira {
namespace robot {
68 template<
typename Reflector>
72 r.member(
"WheelGeometry", wheelGeometry,
"The position of each wheel");
86 Eigen::Dynamic,2>& castorWheelState);
92 virtual float predictStandstillDistance(
const Velocity2& v)
const;
93 virtual float predictStandstillRotation(
const Velocity2& v)
const;
103 float lookAheadTime,
int samples);
std::vector< PoseVelocityTrajectorySample, Eigen::aligned_allocator< PoseVelocityTrajectorySample > > PoseVelocityTrajectory
A sampled trajectory, a collection of trajectory samples, each containing a pose and velocity at a de...
Definition: Trajectory.h:118
boost::shared_ptr< GenericRobotModel > GenericRobotModelPtr
Typedef for GenericRobotModel pointer.
Definition: GenericRobotModel.h:112
A generic robot model that allows to specify a wheel geometry for multi wheel robots with fixed or no...
Definition: GenericRobotModel.h:63
#define MIRA_REFLECT_BASE(reflector, BaseClass)
void reflect(Reflector &r)
Definition: GenericRobotModel.h:69
#define MIRA_OBJECT(classIdentifier)
Base class for all robot models, such as DifferentialRobotModel.
Definition: RobotModel.h:68
std::vector< Pose2 > wheelGeometry
The position of each wheel relative to the robots base.
Definition: GenericRobotModel.h:108
#define MIRA_ROBOT_DATATYPES_EXPORT
Definition: RobotDataTypesExports.h:61
Base class for robot models.