cpp_robotics::Omni3Ik

3輪オムニの逆運動学モデル

#include <omni_ik.hpp>

Public Classes

	Name
struct	Config

Public Functions

	Name
	Omni3Ik(double radius, double first_wheel_angle =M_PI/6)
	Omni3Ik(Config config)
std::array< double, 3 >	calculate(Transformd velocity)
Config	config() const

Public Functions Documentation

function Omni3Ik

inline Omni3Ik(
    double radius,
    double first_wheel_angle =M_PI/6
)

function Omni3Ik

inline Omni3Ik(
    Config config
)

function calculate

inline std::array< double, 3 > calculate(
    Transformd velocity
)

function config

inline Config config() const

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Updated on 2024-05-28 at 06:55:39 +0000