mobile_model.h File Reference

Contains the franka::MobileModel type for mobile robot kinematics. More...

#include <array>
#include <cstdint>
#include <memory>
#include <string>

Include dependency graph for mobile_model.h:

Go to the source code of this file.

Classes
struct	franka::MobileJointPositions
	Joint positions for all controllable subsystems of a mobile robot. More...
class	franka::MobileModel
	Calculates poses for mobile robot frames using Pinocchio. More...

Enumerations
enum class	franka::MobileFrame : std::uint8_t { kFrontDriveModule , kRearDriveModule }
	Enumerates the frames of a mobile robot's drive modules. More...

Variables
constexpr size_t	franka::kNumDriveModules = 2
	Number of swerve drive modules.
constexpr size_t	franka::kJointsPerDriveModule = 2
	Number of joints per drive module (steering + drive).

Detailed Description

Contains the franka::MobileModel type for mobile robot kinematics.

Enumeration Type Documentation

MobileFrame

enum class franka::MobileFrame : std::uint8_t

strong

Enumerates the frames of a mobile robot's drive modules.

Enumerator
kFrontDriveModule	Front swerve drive module frame.
kRearDriveModule	Rear swerve drive module frame.