mirrors/scout_ros
1
0
Fork 0
mirror of https://github.com/westonrobot/scout_ros.git synced 2026-01-12 19:25:01 +08:00
Code Issues Packages Projects Releases Wiki Activity

Pd dev

Browse Source
This commit is contained in:
pd-tan
2020-09-18 09:58:32 +00:00
committed by Ruixiang Du
parent 31ff7d2878
commit 910a1e08f8
6 changed files with 232 additions and 206 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
scout_base/include/scout_base/scout_params.hpp
View File

@@ -5,31 +5,29 @@
* Description:
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
*/
#ifndef SCOUT_PARAMS_HPP
#define SCOUT_PARAMS_HPP
#include <cstdint>
namespace westonrobot
{
struct ScoutParams
{
/* Scout Parameters */
static constexpr double max_steer_angle = 30.0; // in degree
struct ScoutParams
{
/* Scout Parameters */
static constexpr double max_steer_angle = 30.0; // in degree
static constexpr double track = 0.58306; // in meter (left & right wheel distance)
static constexpr double wheelbase = 0.498; // in meter (front & rear wheel distance)
static constexpr double wheel_radius = 0.165; // in meter
static constexpr double track = 0.58306; // in meter (left & right wheel distance)
static constexpr double wheelbase = 0.498; // in meter (front & rear wheel distance)
static constexpr double wheel_radius = 0.165; // in meter
// from user manual v1.2.8 P18
// max linear velocity: 1.5 m/s
// max angular velocity: 0.7853 rad/s
static constexpr double max_linear_speed = 1.5; // in m/s
static constexpr double max_angular_speed = 0.7853; // in rad/s
static constexpr double max_speed_cmd = 10.0; // in rad/s
};
// from user manual v1.2.8 P18
// max linear velocity: 1.5 m/s
// max angular velocity: 0.7853 rad/s
static constexpr double max_linear_speed = 1.5; // in m/s
static constexpr double max_angular_speed = 0.7853; // in rad/s
static constexpr double max_speed_cmd = 10.0; // in rad/s
};
} // namespace westonrobot
#endif /* SCOUT_PARAMS_HPP */