DiffDriveKinematics: Scale wheel velocity to stay below max speed #285
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
huttongrabiel
force-pushed
the
ensure-drive-kinematics
branch
3 times, most recently
from
dc61c63 to
f2d42a9
Compare
abhaybd
requested changes
Nov 28, 2023
huttongrabiel
force-pushed
the
ensure-drive-kinematics
branch
from
f2d42a9 to
29b99c6
Compare
abhaybd
requested changes
Dec 5, 2023
Sometimes we want to scale the wheel velocity so that we focus more on rotational velocity or linear velocity. There are cases where the given theta velocity and linear velocity result in a wheel speed too great for the rover.
huttongrabiel
force-pushed
the
ensure-drive-kinematics
branch
from
50d3a95 to
023b712
Compare
abhaybd
requested changes
Dec 26, 2023
abhaybd
requested changes
Dec 29, 2023
abhaybd
approved these changes
Dec 30, 2023
Geeoon
pushed a commit
that referenced
this pull request
Jan 8, 2024
* DiffDriveKinematics: Scale wheel velocity to stay below max speed Sometimes we want to scale the wheel velocity so that we focus more on rotational velocity or linear velocity. There are cases where the given theta velocity and linear velocity result in a wheel speed too great for the rover. * Make corrections to math + implement proportional + tests * remove trailing comma to maybe fix clang-format * add comma back * Correct proportional scaling + cleanup + some work on tests * Tests: Add tests for preferxvel diff drive kinematic scaling * Tests: Add tests for preferthetavel in diffdrive kinematics * Kinematics: Remove unnecessary include * DiffDriveKinematics: Clean up + add test for thetaVel being too large * Add missing break + make immutable values const
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Sometimes we want to scale the wheel velocity so that we focus more on rotational velocity or linear velocity. There are cases where the given theta velocity and linear velocity result in a wheel speed too great for the rover.