pyrobosim.core.dynamics.RobotDynamics2D.__init__

RobotDynamics2D.__init__(init_pose: ~pyrobosim.utils.pose.Pose = Pose: [x=0.00, y=0.00, z=0.00, qw=1.000, qx=0.000, qy=-0.000, qz=0.000], init_vel: ~numpy.ndarray = array([0., 0., 0.]), max_linear_velocity: float = inf, max_angular_velocity: float = inf, max_linear_acceleration: float = inf, max_angular_acceleration: float = inf) → None

Creates an instance of a 2D robot dynamics object.

Parameters:

• init_pose – The initial pose of the robot.

• init_vel – The initial velocity of the robot, as a [vx, vy, vtheta] array.

• max_linear_velocity – The maximum linear velocity magnitude, in m/s.

• max_angular_velocity – The maximum angular velocity magnitude, in rad/s.

• max_linear_acceleration – The maximum linear acceleration magnitude, in m/s^2.

• max_angular_acceleration – The maximum angular acceleration magnitude, in rad/s^2.