RobotGeometry Struct Reference

The robot's shape, shared by everything that needs it. More...

#include <RobotGeometry.hpp>

Collaboration diagram for RobotGeometry:

Public Attributes
double	height {0.5}
	Top of the robot, above the robot frame (m).
double	inscribed_radius {0.3}
	Largest circle inside the robot (m). Defaults to radius.
double	radius {0.3}
	Circumscribed: smallest circle containing the robot (m).

Detailed Description

The robot's shape, shared by everything that needs it.

Configured once, in SystemNode ("robot_geometry.*" parameters), and read with get_robot_geometry() (easynav_common/RobotGeometry.hpp).

Member Data Documentation

height

double height {0.5}

Top of the robot, above the robot frame (m).

inscribed_radius

double inscribed_radius {0.3}

Largest circle inside the robot (m). Defaults to radius.

radius

double radius {0.3}

Circumscribed: smallest circle containing the robot (m).

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

• easynav_common/include/easynav_common/types/RobotGeometry.hpp