#include <VehicleAckermann.h>

Inheritance diagram for mvsim::DynamicsAckermann:

Classes
class	ControllerFrontSteerPID
class	ControllerRawForces
class	ControllerTwistFrontSteerPID
struct	TControllerInput
struct	TControllerOutput
Public Types
enum	{ WHEEL_RL = 0, WHEEL_RR = 1, WHEEL_FL = 2, WHEEL_FR = 3 }
Public Member Functions
void	computeFrontWheelAngles (const double desired_equiv_steer_ang, double &out_fl_ang, double &out_fr_ang) const
	DynamicsAckermann (World *parent)
double	getMaxSteeringAngle () const
virtual vec3	getVelocityLocalOdoEstimate () const
void	setMaxSteeringAngle (double val)
Protected Member Functions
virtual void	dynamics_load_params_from_xml (const rapidxml::xml_node< char > *xml_node)
virtual void	invoke_motor_controllers (const TSimulContext &context, std::vector< double > &out_force_per_wheel)
Private Attributes
ControllerBasePtr	m_controller
	The installed controller.
double	m_max_steer_ang
Controllers
typedef ControllerBaseTempl < DynamicsAckermann >	ControllerBase
typedef std::shared_ptr < ControllerBase >	ControllerBasePtr
const ControllerBasePtr &	getController () const
ControllerBasePtr &	getController ()
virtual ControllerBaseInterface *	getControllerInterface ()

Detailed Description

Implementation of 4 wheels Ackermann-driven vehicles.

See also:: class factory in VehicleBase::factory

Definition at line 36 of file VehicleAckermann.h.

Member Typedef Documentation

typedef ControllerBaseTempl<DynamicsAckermann> mvsim::DynamicsAckermann::ControllerBase

Virtual base for controllers of vehicles of type DynamicsAckermann

Definition at line 76 of file VehicleAckermann.h.

typedef std::shared_ptr<ControllerBase> mvsim::DynamicsAckermann::ControllerBasePtr

Definition at line 77 of file VehicleAckermann.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

WHEEL_RL
WHEEL_RR
WHEEL_FL
WHEEL_FR

Definition at line 41 of file VehicleAckermann.h.

Constructor & Destructor Documentation

DynamicsAckermann::DynamicsAckermann ( World * parent )

Definition at line 23 of file VehicleAckermann.cpp.

Member Function Documentation

void DynamicsAckermann::computeFrontWheelAngles	(	const double	desired_equiv_steer_ang,
		double &	out_fl_ang,
		double &	out_fr_ang
	)		const

Computes the exact angles of the front wheels required to have an equivalent central steering angle. The method takes into account all wheels info & steering limits stored in the object.

Definition at line 202 of file VehicleAckermann.cpp.

void DynamicsAckermann::dynamics_load_params_from_xml ( const rapidxml::xml_node< char > * xml_node ) [protected, virtual]

The derived-class part of load_params_from_xml()

Implements mvsim::VehicleBase.

Definition at line 63 of file VehicleAckermann.cpp.

const ControllerBasePtr& mvsim::DynamicsAckermann::getController ( ) const [inline]

Definition at line 159 of file VehicleAckermann.h.

ControllerBasePtr& mvsim::DynamicsAckermann::getController ( ) [inline]

Definition at line 160 of file VehicleAckermann.h.

virtual ControllerBaseInterface* mvsim::DynamicsAckermann::getControllerInterface ( ) [inline, virtual]

Implements mvsim::VehicleBase.

Definition at line 161 of file VehicleAckermann.h.

double mvsim::DynamicsAckermann::getMaxSteeringAngle ( ) const [inline]

The maximum steering angle (rad). Determines min turning radius

Definition at line 52 of file VehicleAckermann.h.

vec3 DynamicsAckermann::getVelocityLocalOdoEstimate ( ) const [virtual]

Gets the current estimation of odometry-based velocity as reconstructed solely from wheels spinning velocities and geometry. This is the input of any realistic low-level controller onboard.