Omnidirectional motion model. More...
#include <nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp>
Inheritance diagram for mppi::OmniMotionModel:
Collaboration diagram for mppi::OmniMotionModel:
Public Member Functions | |
| OmniMotionModel ()=default | |
| Constructor for mppi::OmniMotionModel. | |
| bool | isHolonomic () override |
| Whether the motion model is holonomic, using Y axis. More... | |
 Public Member Functions inherited from mppi::MotionModel | |
| MotionModel ()=default | |
| Constructor for mppi::MotionModel. | |
| virtual | ~MotionModel ()=default |
| Destructor for mppi::MotionModel. | |
| void | initialize (const models::ControlConstraints &control_constraints, float model_dt) |
| Initialize motion model on bringup and set required variables. More... | |
| virtual void | predict (models::State &state) |
| With input velocities, find the vehicle's output velocities. More... | |
| virtual void | applyConstraints (models::ControlSequence &) |
| Apply hard vehicle constraints to a control sequence. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from mppi::MotionModel | |
| float | model_dt_ {0.0} |
| models::ControlConstraints | control_constraints_ |
Detailed Description
Omnidirectional motion model.
Definition at line 216 of file motion_models.hpp.
Member Function Documentation
◆ isHolonomic()
|
inlineoverridevirtual |
Whether the motion model is holonomic, using Y axis.
- Returns
- Bool If holonomic
Implements mppi::MotionModel.
Definition at line 228 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
