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orca::VehicleControlVelocityDifferentialDescription Class Reference [VehicleDescription] Static description of a Velocity-controlled Differential-Drive vehicle. More... Inherits orca::VehicleControlDescription. Inheritance diagram for orca::VehicleControlVelocityDifferentialDescription: [legend]List of all members. Public Attributes double  maxForwardSpeed   Maximum in-plane forward speed [m/s]. double  maxReverseSpeed   Maximum in-plane reverse speed [m/s] (note: this is a positive number). double  maxTurnrate   Maximum in-plane turnrate [rad/s] (assumes equal max turnrate in either direction). double  maxLateralAcceleration double  maxForwardAcceleration   Maximum forward acceleration [m/s/s]. double  maxReverseAcceleration   Maximum reverse acceleration [m/s/s]. double  maxRotationalAcceleration   Maximum rotational acceleration [rad/s/s] (assumes equal in either direction). Detailed Description Static description of a Velocity-controlled Differential-Drive vehicle. Member Data Documentation double orca::VehicleControlVelocityDifferentialDescription::maxLateralAcceleration   Maximum lateral acceleration [m/s/s] This limits the vehicle's maximum turnrate when travelling at speed, by placing a limit on the allowed centripital force. The equation governing this is hyperbolic: a = -v*w where: a is lateral acceleration v is linear velocity w is turnrate in rad/s the '-' points the acceleration into the centre of rotation The documentation for this class was generated from the following file: vehicledescription.ice

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