(cmd, "Wrong vehicle kinematic class, expected `CVehicleVelCmd_Holo`"
This class can be used to simulate the kinematics and dynamics of a differential driven planar mobile...
C++11 "override" for virtuals:
Virtual base for velocity commands of different kinematic models of planar mobile robot...
2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega)
: Blending time between current and target time.
: direction, relative to the current robot heading (radians). 0 means forward.
void sendVelCmd(const CVehicleVelCmd &cmd_vel) MRPT_OVERRIDE
Sends a velocity command to the robot.
time when the cmd was issued. (<0: invalid, means there are no pending cmds to execute) ...
CVehicleVelCmdPtr getVelCmdType() const MRPT_OVERRIDE
Gets an empty velocity command object that can be queried to find out the number of velcmd components...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Kinematic simulator of a holonomic 2D robot capable of moving in any direction, with "blended" veloci...
the last cmd received from the user.
#define ASSERTMSG_(f, __ERROR_MSG)
: (rad/s) rotational speed for rotating such as the robot slowly faces forward.