trajopt::DifferentialDrivetrain Struct Reference

A differential drivetrain physical model. More...

#include <trajopt/differential_trajectory_generator.hpp>

Public Attributes
double	mass
	The mass of the robot (kg).
double	moi
	The moment of inertia of the robot about the origin (kg−m²).
double	wheel_radius
	Radius of the wheels (m).
double	wheel_max_angular_velocity
	Maximum angular velocity of the wheels (rad/s).
double	wheel_max_torque
	Maximum torque applied to the wheels (N−m).
double	wheel_cof
	The Coefficient of Friction (CoF) of the wheels.
double	trackwidth
	Distance between the two driverails (m).

Detailed Description

A differential drivetrain physical model.

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The documentation for this struct was generated from the following file:

• include/trajopt/differential_trajectory_generator.hpp