libstp::kinematics::differential::DifferentialKinematics Class Reference

#include <differential.hpp>

Inheritance diagram for libstp::kinematics::differential::DifferentialKinematics:

Collaboration diagram for libstp::kinematics::differential::DifferentialKinematics:

Public Member Functions
	DifferentialKinematics (hal::motor::IMotor *left_motor, hal::motor::IMotor *right_motor, double wheelbase, double wheelRadius)
	~DifferentialKinematics () override=default
std::size_t	wheelCount () const override
MotorCommands	applyCommand (const foundation::ChassisVelocity &cmd, double dt) override
foundation::ChassisVelocity	estimateState () const override
void	hardStop () override
bool	supportsLateralMotion () const override
void	resetEncoders () override
double	getWheelRadius () const override
	Get the wheel radius used by this kinematics model.
std::vector< hal::motor::IMotor * >	getMotors () override
StmOdometryConfig	getStmOdometryConfig () override
void	applyPowerCommand (const foundation::ChassisVelocity &direction, int power_percent) override
void	setMaxWheelSpeed (double max_wheel_speed)
double	getMaxWheelSpeed () const
double	maxYawRateForArcRadius (double radius_m, bool) const override
Public Member Functions inherited from libstp::kinematics::IKinematics
virtual	~IKinematics ()=default
virtual void	setVelocityCommandGains (double, double, double)
virtual std::array< double, 3 >	getVelocityCommandGains () const

Detailed Description

Differential-drive implementation of IKinematics.

The model assumes two independently driven wheels separated by m_wheelbase, with no direct lateral degree of freedom.

Definition at line 15 of file differential.hpp.

Constructor & Destructor Documentation

DifferentialKinematics()

libstp::kinematics::differential::DifferentialKinematics::DifferentialKinematics	(	hal::motor::IMotor *	left_motor,
		hal::motor::IMotor *	right_motor,
		double	wheelbase,
		double	wheelRadius )

Parameters

left_motor	Non-owning pointer to the left drive motor.
right_motor	Non-owning pointer to the right drive motor.
wheelbase	Distance between left and right wheel contact lines.
wheelRadius	Radius of each drive wheel in meters.

~DifferentialKinematics()

libstp::kinematics::differential::DifferentialKinematics::~DifferentialKinematics ( )

overridedefault

Member Function Documentation

applyCommand()

MotorCommands libstp::kinematics::differential::DifferentialKinematics::applyCommand ( const foundation::ChassisVelocity & cmd, double dt )

overridevirtual

Convert (vx, wz) into left and right wheel angular velocities.

Implements libstp::kinematics::IKinematics.

applyPowerCommand()

void libstp::kinematics::differential::DifferentialKinematics::applyPowerCommand ( const foundation::ChassisVelocity & direction, int power_percent )

overridevirtual

Command motors at raw open-loop power using differential inverse kinematics for direction.

Implements libstp::kinematics::IKinematics.

estimateState()

foundation::ChassisVelocity libstp::kinematics::differential::DifferentialKinematics::estimateState ( ) const

nodiscardoverridevirtual

Recover (vx, wz) from the measured left and right wheel speeds.

Implements libstp::kinematics::IKinematics.

getMaxWheelSpeed()

double libstp::kinematics::differential::DifferentialKinematics::getMaxWheelSpeed ( ) const

inlinenodiscard

Definition at line 68 of file differential.hpp.

getMotors()

std::vector< hal::motor::IMotor * > libstp::kinematics::differential::DifferentialKinematics::getMotors ( )

nodiscardoverridevirtual

Return the underlying motors in left, right order.

Implements libstp::kinematics::IKinematics.

getStmOdometryConfig()

StmOdometryConfig libstp::kinematics::differential::DifferentialKinematics::getStmOdometryConfig ( )

nodiscardoverridevirtual

Implements libstp::kinematics::IKinematics.

getWheelRadius()

double libstp::kinematics::differential::DifferentialKinematics::getWheelRadius ( ) const

inlinenodiscardoverridevirtual

Get the wheel radius used by this kinematics model.

Returns

Wheel radius in meters

Implements libstp::kinematics::IKinematics.

Definition at line 56 of file differential.hpp.

hardStop()

void libstp::kinematics::differential::DifferentialKinematics::hardStop ( )

overridevirtual

Brake both drive motors immediately.

Implements libstp::kinematics::IKinematics.

maxYawRateForArcRadius()

double libstp::kinematics::differential::DifferentialKinematics::maxYawRateForArcRadius ( double radius_m, bool  ) const

inlinenodiscardoverridevirtual

Outer wheel on an arc travels at omega * (radius + wheelbase/2); keep it inside the wheel-speed limit. lateral is irrelevant — a differential base has no strafe arcs.

Reimplemented from libstp::kinematics::IKinematics.

Definition at line 75 of file differential.hpp.

resetEncoders()

void libstp::kinematics::differential::DifferentialKinematics::resetEncoders ( )

overridevirtual

Clear encoder history in both MotorAdapter instances.

Implements libstp::kinematics::IKinematics.

setMaxWheelSpeed()

void libstp::kinematics::differential::DifferentialKinematics::setMaxWheelSpeed ( double max_wheel_speed )

inline

Definition at line 67 of file differential.hpp.

supportsLateralMotion()

bool libstp::kinematics::differential::DifferentialKinematics::supportsLateralMotion ( ) const

nodiscardoverridevirtual

Differential drivetrains cannot command lateral motion directly.

Implements libstp::kinematics::IKinematics.

wheelCount()

std::size_t libstp::kinematics::differential::DifferentialKinematics::wheelCount ( ) const

nodiscardoverridevirtual

Always returns 2.

Implements libstp::kinematics::IKinematics.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-kinematics/models/differential/include/kinematics/differential/differential.hpp