Ackermann motion model. More...
#include <nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp>
Inheritance diagram for mppi::AckermannMotionModel:
Collaboration diagram for mppi::AckermannMotionModel:
Public Member Functions | |
| AckermannMotionModel (ParametersHandler *param_handler, const std::string &name) | |
| Constructor for mppi::AckermannMotionModel. | |
| bool | isHolonomic () override |
| Whether the motion model is holonomic, using Y axis. More... | |
| void | applyConstraints (models::ControlSequence &control_sequence) override |
| Apply hard vehicle constraints to a control sequence. More... | |
| float | getMinTurningRadius () |
| Get minimum turning radius of ackermann drive. More... | |
 Public Member Functions inherited from mppi::MotionModel | |
| MotionModel ()=default | |
| Constructor for mppi::MotionModel. | |
| virtual | ~MotionModel ()=default |
| Destructor for mppi::MotionModel. | |
| virtual void | predict (models::State &state) |
| With input velocities, find the vehicle's output velocities. More... | |
Detailed Description
Ackermann motion model.
Definition at line 86 of file motion_models.hpp.
Member Function Documentation
◆ applyConstraints()
|
inlineoverridevirtual |
Apply hard vehicle constraints to a control sequence.
- Parameters
-
control_sequence Control sequence to apply constraints to
Reimplemented from mppi::MotionModel.
Definition at line 111 of file motion_models.hpp.
◆ getMinTurningRadius()
|
inline |
Get minimum turning radius of ackermann drive.
- Returns
- Minimum turning radius
Definition at line 124 of file motion_models.hpp.
◆ isHolonomic()
|
inlineoverridevirtual |
Whether the motion model is holonomic, using Y axis.
- Returns
- Bool If holonomic
Implements mppi::MotionModel.
Definition at line 102 of file motion_models.hpp.
The documentation for this class was generated from the following file:
- nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
