forked from 4am-robotics/cob_control
/
TricycleCtrlTypes.h
55 lines (41 loc) · 1.39 KB
/
TricycleCtrlTypes.h
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/*
* Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef COB_TRICYCLE_CONTROLLER_TRICYCLECTRLTYPES_H
#define COB_TRICYCLE_CONTROLLER_TRICYCLECTRLTYPES_H
#include <urdf/model.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2/LinearMath/Vector3.h>
struct PlatformState{
double velX;
double velY;
double rotTheta;
PlatformState() : velX(0.0), velY(0.0), rotTheta(0.0) {}
};
struct WheelState{
std::string steer_name, drive_name;
double steer_pos;
double steer_vel;
double drive_pos;
double drive_vel;
double pos_x;
double pos_y;
double radius;
WheelState() : steer_pos(0.0), steer_vel(0.0), drive_pos(0.0), drive_vel(0.0),
pos_x(0.0), pos_y(0.0),
radius(0.0)
{}
};
#endif