forked from logzhan/RobotHardware-UESTC
44 lines
1.1 KiB
C
44 lines
1.1 KiB
C
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#ifndef PIBOT_MODLE_H_
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#define PIBOT_MODLE_H_
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//用于标识里程信息
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struct Odom
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{
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float x;
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float y;
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float z;
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float vel_x;
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float vel_y;
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float vel_z;
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};
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// 运动模型接口， 继承该类实现对应的模型
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struct Model
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{
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// 构造函数
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Model(){}
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Model(float _wheel_radius, float _body_radius): wheel_radius(_wheel_radius), body_radius(_body_radius){}
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// 参数更新接口
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void set(float _wheel_radius, float _body_radius) {
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wheel_radius = _wheel_radius;
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body_radius = _body_radius;
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}
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// 析构函数
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~Model(){}
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//robot speed ------------> motor speed 运动解算 把给到机器人的速度分解为各个轮子速度
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virtual void motion_solver(float* robot_speed, float* motor_speed) = 0;
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//motor speed-------------> robot speed 反解算， 把各个轮子的速度转为机器人的速度 ，这里通过固定时间间隔转为里程
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//interval ms
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virtual void get_odom(struct Odom* odom, float* motor_dis, unsigned long interval) = 0;
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protected:
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float wheel_radius; // 轮子半径
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float body_radius; // 机器人半径（泛指）
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};
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#endif
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