The motor instructions generated by the control strategy used in this tasks.
More...
#include <task.h>
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void | init (Direction &direction) |
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void | setVelocities (const float &l, const float &r) |
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b2Vec2 | getLinearVelocity (const float &dt=1) const |
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| b2Transform | getTransform (const float &dt=1) const |
| | Gets the ROBOT's displacement in the world frame after dt seconds. More...
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float | getRWheelSpeed () const |
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float | getLWheelSpeed () const |
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void | setRWheelSpeed (float f) |
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void | setLWheelSpeed (float f) |
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bool | isValid () |
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float | getLinearSpeed () |
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float | getOmega (const float &dt=1) const |
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| float | getOmega (const float l, const float r, float dt=1) const |
| | Uses kinematic model to calculate angle. More...
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void | setOmega (const float &o) |
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void | setLinearSpeed (const float &s) |
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The motor instructions generated by the control strategy used in this tasks.
◆ getOmega()
| float Task::Action::getOmega |
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const float |
l, |
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const float |
r, |
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float |
dt = 1 |
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inline |
Uses kinematic model to calculate angle.
- Parameters
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| l | left wheel speed (normalised) |
| r | right wheen speed (normalised) * |
◆ getTransform()
| b2Transform Task::Action::getTransform |
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const float & |
dt = 1 | ) |
const |
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inline |
Gets the ROBOT's displacement in the world frame after dt seconds.
- Parameters
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| dt | delta time (in seconds) |
The documentation for this struct was generated from the following file:
