Struct HATebConfig::Robot

Nested Relationships

This struct is a nested type of Class HATebConfig.

Struct Documentation

struct Robot

Robot related parameters.

Public Members

int type
double max_vel_x

Maximum translational velocity of the robot.

double max_vel_x_backwards

Maximum translational velocity of the robot for driving backwards.

double max_vel_y

Maximum strafing velocity of the robot (should be zero for non-holonomic robots!)

double max_vel_theta

Maximum angular velocity of the robot.

double acc_lim_x

Maximum translational acceleration of the robot.

double acc_lim_y

Maximum strafing acceleration of the robot.

double acc_lim_theta

Maximum angular acceleration of the robot.

double min_turning_radius

Minimum turning radius of a carlike robot (diff-drive robot: zero);.

double wheelbase

The distance between the drive shaft and steering axle (only required for a carlike robot with ‘cmd_angle_instead_rotvel’ enabled); The value might be negative for back-wheeled robots!

bool cmd_angle_instead_rotvel

Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check ‘axles_distance’)

bool is_footprint_dynamic
bool is_real