pyrobosim.core.dynamics.RobotDynamics2D

class pyrobosim.core.dynamics.RobotDynamics2D(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)

Simple 2D dynamics for robots.

Methods

__init__([robot, init_pose, y, z, qw, qx, ...])	Creates an instance of a 2D robot dynamics object.
enforce_dynamics_limits(cmd_vel, dt)	Enforces velocity and acceleration limits by saturating a velocity command.
reset([pose, velocity])	Reset all the dynamics of the robot to provided values.
step(cmd_vel, dt[, world, check_collisions])	Perform a single dynamics step.