ArtVehicleModel Class Reference

#include <vehicle_model.h>

List of all members.

Public Member Functions
	ArtVehicleModel (Stg::ModelPosition *stgPos, tf::TransformBroadcaster *tfBroad, std::string ns_prefix)
void	setup (void)
void	update (ros::Time sim_time)
	~ArtVehicleModel ()
Private Member Functions
void	brakeReceived (const art_msgs::BrakeState::ConstPtr &msg)
void	ModelAcceleration (geometry_msgs::Twist *odomVel, sensor_msgs::Imu *imu_msg, ros::Time sim_time)
void	publishGPS (ros::Time sim_time)
void	shifterReceived (const art_msgs::Shifter::ConstPtr &msg)
void	steeringReceived (const art_msgs::SteeringState::ConstPtr &msg)
void	throttleReceived (const art_msgs::ThrottleState::ConstPtr &msg)
Private Attributes
float	brake_position_
ros::Subscriber	brake_sub_
ros::Publisher	gps_pub_
ros::Publisher	ground_truth_pub_
nav_msgs::Odometry	groundTruthMsg_
ros::Publisher	imu_pub_
ros::Time	last_update_time_
double	map_origin_x_
double	map_origin_y_
boost::mutex	msg_lock_
ros::NodeHandle	node_
std::string	ns_prefix_
ros::Publisher	odom_pub_
nav_msgs::Odometry	odomMsg_
double	origin_easting_
double	origin_elev_
double	origin_lat_
double	origin_long_
double	origin_northing_
char	origin_zone_ [20]
uint8_t	shifter_gear_
ros::Subscriber	shifter_sub_
float	steering_angle_
ros::Subscriber	steering_sub_
Stg::ModelPosition *	stgp_
tf::TransformBroadcaster *	tf_
std::string	tf_prefix_
float	throttle_position_
ros::Subscriber	throttle_sub_

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Detailed Description

Definition at line 44 of file vehicle_model.h.

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Constructor & Destructor Documentation

ArtVehicleModel::ArtVehicleModel	(	Stg::ModelPosition *	stgPos,
		tf::TransformBroadcaster *	tfBroad,
		std::string	ns_prefix
	)			[inline]

Definition at line 49 of file vehicle_model.h.

ArtVehicleModel::~ArtVehicleModel

(

)

[inline]

Definition at line 64 of file vehicle_model.h.

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Member Function Documentation

void ArtVehicleModel::brakeReceived

(

const art_msgs::BrakeState::ConstPtr &

msg

)

[private]

Definition at line 92 of file vehicle_model.cc.

void ArtVehicleModel::ModelAcceleration	(	geometry_msgs::Twist *	odomVel,
		sensor_msgs::Imu *	imuMsg,
		ros::Time	sim_time
	)			[private]

Model vehicle acceleration

Precondition:

last_update_time_ = time of previous update.

Parameters:

	odomVel[out]	-> the Odometry message Twist component
	imuMsg[out]	-> the IMU message
	sim_time[in]	current simulation time

Note:

This simple model does not account for sideways slippage, so odomVel->linear.y is always zero. Similarly, roll, pitch and odomVel->linear.z are always zero, because Stage is a 2D simulation.

Todo:

introduce some small random fluctuations

Definition at line 137 of file vehicle_model.cc.

void ArtVehicleModel::publishGPS

(

ros::Time

sim_time

)

[private]

Definition at line 273 of file vehicle_model.cc.

void ArtVehicleModel::setup

(

void

)

Definition at line 33 of file vehicle_model.cc.

void ArtVehicleModel::shifterReceived

(

const art_msgs::Shifter::ConstPtr &

msg

)

[private]

Definition at line 100 of file vehicle_model.cc.

void ArtVehicleModel::steeringReceived

(

const art_msgs::SteeringState::ConstPtr &

msg

)

[private]

Definition at line 108 of file vehicle_model.cc.

void ArtVehicleModel::throttleReceived

(

const art_msgs::ThrottleState::ConstPtr &

msg

)

[private]

Definition at line 116 of file vehicle_model.cc.

void ArtVehicleModel::update

(

ros::Time

sim_time

)

Definition at line 197 of file vehicle_model.cc.

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Member Data Documentation

float ArtVehicleModel::brake_position_ [private]

Definition at line 110 of file vehicle_model.h.

ros::Subscriber ArtVehicleModel::brake_sub_ [private]

Definition at line 94 of file vehicle_model.h.

ros::Publisher ArtVehicleModel::gps_pub_ [private]

Definition at line 91 of file vehicle_model.h.

ros::Publisher ArtVehicleModel::ground_truth_pub_ [private]

Definition at line 87 of file vehicle_model.h.

nav_msgs::Odometry ArtVehicleModel::groundTruthMsg_ [private]

Definition at line 86 of file vehicle_model.h.

ros::Publisher ArtVehicleModel::imu_pub_ [private]

Definition at line 90 of file vehicle_model.h.

ros::Time ArtVehicleModel::last_update_time_ [private]

Definition at line 88 of file vehicle_model.h.

double ArtVehicleModel::map_origin_x_ [private]

Definition at line 123 of file vehicle_model.h.

double ArtVehicleModel::map_origin_y_ [private]

Definition at line 124 of file vehicle_model.h.

boost::mutex ArtVehicleModel::msg_lock_ [private]

Definition at line 109 of file vehicle_model.h.

ros::NodeHandle ArtVehicleModel::node_ [private]

Definition at line 79 of file vehicle_model.h.

std::string ArtVehicleModel::ns_prefix_ [private]

Definition at line 81 of file vehicle_model.h.

ros::Publisher ArtVehicleModel::odom_pub_ [private]

Definition at line 85 of file vehicle_model.h.

nav_msgs::Odometry ArtVehicleModel::odomMsg_ [private]

Definition at line 84 of file vehicle_model.h.

double ArtVehicleModel::origin_easting_ [private]

Definition at line 120 of file vehicle_model.h.

double ArtVehicleModel::origin_elev_ [private]

Definition at line 119 of file vehicle_model.h.

double ArtVehicleModel::origin_lat_ [private]

Definition at line 117 of file vehicle_model.h.

double ArtVehicleModel::origin_long_ [private]

Definition at line 118 of file vehicle_model.h.

double ArtVehicleModel::origin_northing_ [private]

Definition at line 121 of file vehicle_model.h.

char ArtVehicleModel::origin_zone_[20] [private]

Definition at line 122 of file vehicle_model.h.

uint8_t ArtVehicleModel::shifter_gear_ [private]

Definition at line 111 of file vehicle_model.h.

ros::Subscriber ArtVehicleModel::shifter_sub_ [private]

Definition at line 95 of file vehicle_model.h.

float ArtVehicleModel::steering_angle_ [private]

Definition at line 112 of file vehicle_model.h.

ros::Subscriber ArtVehicleModel::steering_sub_ [private]

Definition at line 96 of file vehicle_model.h.

Stg::ModelPosition* ArtVehicleModel::stgp_ [private]

Definition at line 76 of file vehicle_model.h.

tf::TransformBroadcaster* ArtVehicleModel::tf_ [private]

Definition at line 80 of file vehicle_model.h.

std::string ArtVehicleModel::tf_prefix_ [private]

Definition at line 82 of file vehicle_model.h.

float ArtVehicleModel::throttle_position_ [private]

Definition at line 113 of file vehicle_model.h.

ros::Subscriber ArtVehicleModel::throttle_sub_ [private]

Definition at line 97 of file vehicle_model.h.

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The documentation for this class was generated from the following files:

• vehicle_model.h
• vehicle_model.cc