: Public Class

Created: | 2015-07-31 오후 4:10:02
Modified: | 2015-07-31 오후 4:10:02
Project: |
Author: | shint
Version: | 1.0
Phase: | 1.0
Status: | Proposed
Complexity: | Easy
Difficulty: |
Priority: |
Multiplicity: |
Advanced: |
UUID: | {A2F1FE3E-E700-433f-B654-C1867F614BE3}
Appears In: | Package1

- Attributes
- Operations
- Associations From

Attribute
Public double _bodyFront
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 차량 중심으로부터 앞 범퍼까지의 길이#lt;p/#gt;
Public double _bodyRear
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 차량 중심으로부터 뒷 범퍼까지의 길이#lt;p/#gt;
Public double _bodyWidth
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 차량 폭#lt;p/#gt;
Public double _centripetalAccel
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 안전한 주행(차량의 전복 방지)을 위한 구심가속도, Unit: m/s^2#lt;p/#gt;
Public long _foreWheelEncoderResol
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 앞 모터 엔코더 해상도#lt;p/#gt;
Public double _foreWheelGearRatio
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 앞 바퀴 조향축 감속비#lt;p/#gt;
Public double _foreWheelRadius
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 앞 바퀴 반지름#lt;p/#gt;
Public double _foreWheelXpos
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 앞 바퀴의 x(정면) 방향 위치#lt;p/#gt;
Public double _foreWheelYpos
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 앞 바퀴의 y(측면) 방향 위치#lt;p/#gt;
Public double _linearAccel
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 안전한 주행을 위한 선가속도, Unit: m/s^2#lt;p/#gt;
Public double _maxLinearVel
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 차량의 최대 선속도, Unit: m/s#lt;p/#gt;
Public double _maxSteerAngle
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 차량의 최대 조향 회전각, Unit: rad#lt;p/#gt;
Public long _rearWheelEncoderResol
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 뒷 모터 엔코더 해상도#lt;p/#gt;
Public double _rearWheelGearRatio
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 뒷 바퀴 감속비#lt;p/#gt;
Public double _rearWheelRadius
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 뒷 바퀴 반지름#lt;p/#gt;
Public double _rearWheelXpos
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 뒷 바퀴의 x(정면) 방향 위치#lt;p/#gt;
Public double _rearWheelYpos
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 뒷 바퀴의 y(측면) 방향 위치#lt;p/#gt;
Public double _steerVelocity
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 안전한 조향을 위한 각속도, Unit: rad/s#lt;p/#gt;
Public double _varianceAngular
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Public double _varianceLinear
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False

Operation
Public CMobilityProfile():
Details: Sequential
Tags: | bodyLocation=classDec

Element | Source Role | Target Role
DeviceManager Class | Name: | Name: _mobilityProfile
Details:
CMobility Class | Name: | Name: _mp
Details:
CPathFollowing Class | Name: | Name: _mp
Details: