simbad.sim
Class DifferentialKinematic

java.lang.Object
  simbad.sim.KinematicModel
      simbad.sim.DifferentialKinematic

public class DifferentialKinematic

extends KinematicModel

This class models the differential drive kinematic common. The two control parameters are left and right velocity.

Constructor Summary

DifferentialKinematic(double wheelsDistance)

Method Summary

double	getLeftVelocity() Gets the velocity of the left wheel in meter/s.
double	getRightVelocity() Gets the velocity of the right wheel in meter/s.
void	setLeftVelocity(double vel) Sets the velocity of the left wheel in meter/s.
void	setRightVelocity(double vel) Sets the velocity of the right wheel in meter/s.
void	setWheelsVelocity(double vl, double vr) Sets the velocity of both wheels in meter/s.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DifferentialKinematic

public DifferentialKinematic(double wheelsDistance)

Method Detail

setLeftVelocity

public void setLeftVelocity(double vel)

Sets the velocity of the left wheel in meter/s.

setRightVelocity

public void setRightVelocity(double vel)

Sets the velocity of the right wheel in meter/s.

setWheelsVelocity

public void setWheelsVelocity(double vl,
                              double vr)

Sets the velocity of both wheels in meter/s.

getLeftVelocity

public double getLeftVelocity()

Gets the velocity of the left wheel in meter/s.

getRightVelocity

public double getRightVelocity()

Gets the velocity of the right wheel in meter/s.