pyrobosim.core.dynamics.RobotDynamics2D.__init__

RobotDynamics2D.__init__(robot=None, init_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=array([0., 0., 0.]), max_linear_velocity=inf, max_angular_velocity=inf, max_linear_acceleration=inf, max_angular_acceleration=inf)

Creates an instance of a 2D robot dynamics object.

Parameters:

• robot (pyrobosim.core.robot.Robot) – The robot corresponding to this dynamics object.

• init_pose (pyrobosim.utils.pose.Pose) – The initial pose of the robot.

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

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

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

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

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