pyrobosim.core.dynamics.RobotDynamics2D

class pyrobosim.core.dynamics.RobotDynamics2D(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)

Simple 2D dynamics for robots.

Methods

__init__(init_pose[, y, z, qw, qx, qy, qz])	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)	Perform a single dynamics step.