Abstract motion model for modeling a vehicle. More...
#include <nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp>
Inheritance diagram for mppi::MotionModel:
Public Member Functions | |
| 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... | |
| virtual bool | isHolonomic ()=0 |
| Whether the motion model is holonomic, using Y axis. More... | |
| virtual void | applyConstraints (models::ControlSequence &) |
| Apply hard vehicle constraints to a control sequence. More... | |
Detailed Description
Abstract motion model for modeling a vehicle.
Definition at line 37 of file motion_models.hpp.
Member Function Documentation
◆ applyConstraints()
|
inlinevirtual |
Apply hard vehicle constraints to a control sequence.
- Parameters
-
control_sequence Control sequence to apply constraints to
Reimplemented in mppi::AckermannMotionModel.
Definition at line 79 of file motion_models.hpp.
◆ isHolonomic()
|
pure virtual |
Whether the motion model is holonomic, using Y axis.
- Returns
- Bool If holonomic
Implemented in mppi::OmniMotionModel, mppi::DiffDriveMotionModel, and mppi::AckermannMotionModel.
Referenced by predict().
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◆ predict()
|
inlinevirtual |
With input velocities, find the vehicle's output velocities.
- Parameters
-
state Contains control velocities to use to populate vehicle velocities
Definition at line 54 of file motion_models.hpp.
References isHolonomic().
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The documentation for this class was generated from the following file:
- nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
