trajopt::SwerveDrivetrain Struct Reference

A swerve drivetrain physical model. More...

#include <trajopt/swerve_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 each wheel (rad/s).
double	wheel_max_torque
	Maximum torque applied to each wheel (N−m).
double	wheel_cof
	The Coefficient of Friction (CoF) of the wheels.
std::vector< Translation2d >	modules

Detailed Description

A swerve drivetrain physical model.

Member Data Documentation

modules

std::vector<Translation2d> trajopt::SwerveDrivetrain::modules

Translation of each swerve module from the origin of the robot coordinate system to the center of the module (m). There's usually one in each corner.

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

• include/trajopt/swerve_trajectory_generator.hpp