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34 lines
996 B
C++
34 lines
996 B
C++
/*
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* scout_params.hpp
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*
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* Created on: Sep 27, 2019 15:08
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* Description:
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*
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* Copyright (c) 2020 Ruixiang Du (rdu)
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*/
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#ifndef SCOUT_PARAMS_HPP
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#define SCOUT_PARAMS_HPP
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namespace westonrobot
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{
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struct ScoutParams
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{
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/* Scout Parameters */
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static constexpr double max_steer_angle = 30.0; // in degree
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static constexpr double track = 0.58306; // in meter (left & right wheel distance)
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static constexpr double wheelbase = 0.498; // in meter (front & rear wheel distance)
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static constexpr double wheel_radius = 0.165; // in meter
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// from user manual v1.2.8 P18
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// max linear velocity: 1.5 m/s
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// max angular velocity: 0.7853 rad/s
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static constexpr double max_linear_speed = 1.5; // in m/s
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static constexpr double max_angular_speed = 0.7853; // in rad/s
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static constexpr double max_speed_cmd = 10.0; // in rad/s
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};
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} // namespace westonrobot
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#endif /* SCOUT_PARAMS_HPP */
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