#include <VehicleBase.h>
Public Types | |
| typedef std::vector < SensorBase::Ptr > | TListSensors |
Public Member Functions | |
| virtual void | apply_force (double fx, double fy, double local_ptx=0.0, double local_pty=0.0) |
| void | clearLogs () |
| virtual void | create_multibody_system (b2World *world) |
| b2Body * | getBox2DChassisBody () |
| mrpt::math::TPoint2D | getChassisCenterOfMass () const |
| In local coordinates (this excludes the mass of wheels) | |
| virtual double | getChassisMass () const |
| const mrpt::math::TPolygon2D & | getChassisShape () const |
| virtual ControllerBaseInterface * | getControllerInterface ()=0 |
| mrpt::poses::CPose2D | getCPose2D () const |
| std::shared_ptr< CSVLogger > | getLoggerPtr (std::string logger_name) |
| virtual float | getMaxVehicleRadius () const |
| const std::string & | getName () const |
| size_t | getNumWheels () const |
| const mrpt::math::TPose3D & | getPose () const |
| const TListSensors & | getSensors () const |
| TListSensors & | getSensors () |
| size_t | getVehicleIndex () const |
| const vec3 & | getVelocity () const |
| vec3 | getVelocityLocal () const |
| virtual vec3 | getVelocityLocalOdoEstimate () const =0 |
| const Wheel & | getWheelInfo (const size_t idx) const |
| Wheel & | getWheelInfo (const size_t idx) |
| void | getWheelsVelocityLocal (std::vector< mrpt::math::TPoint2D > &vels, const vec3 &veh_vel_local) const |
| virtual void | gui_update (mrpt::opengl::COpenGLScene &scene) |
| void | newLogSession () |
| void | setPose (const mrpt::math::TPose3D &p) const |
| void | setRecording (bool record) |
| void | setVehicleIndex (size_t idx) |
| virtual void | simul_post_timestep (const TSimulContext &context) |
| void | simul_post_timestep_common (const TSimulContext &context) |
| virtual void | simul_pre_timestep (const TSimulContext &context) |
Static Public Member Functions | |
| static VehicleBase * | factory (World *parent, const rapidxml::xml_node< char > *xml_node) |
| static VehicleBase * | factory (World *parent, const std::string &xml_text) |
| static void | register_vehicle_class (const rapidxml::xml_node< char > *xml_node) |
Protected Member Functions | |
| virtual void | dynamics_load_params_from_xml (const rapidxml::xml_node< char > *xml_node)=0 |
| void | gui_update_common (mrpt::opengl::COpenGLScene &scene, bool defaultVehicleBody=true) |
| virtual void | initLoggers () |
| virtual void | invoke_motor_controllers (const TSimulContext &context, std::vector< double > &out_force_per_wheel)=0 |
| VehicleBase (World *parent, size_t nWheels) | |
| virtual void | writeLogStrings () |
Protected Attributes | |
| std::string | m_log_path |
| std::map< std::string, std::shared_ptr< CSVLogger > > | m_loggers |
| std::string | m_name |
| User-supplied name of the vehicle (e.g. "r1", "veh1") | |
| size_t | m_vehicle_index |
Detailed Description
Virtual base class for each vehicle "actor" in the simulation. Derived classes implements different dynamical models (Differential, Ackermann,...)
Definition at line 50 of file VehicleBase.h.
Member Typedef Documentation
| typedef std::vector<SensorBase::Ptr> mvsim::VehicleBase::TListSensors |
Definition at line 129 of file VehicleBase.h.
Constructor & Destructor Documentation
| VehicleBase::VehicleBase | ( | World * | parent, |
| size_t | nWheels | ||
| ) | [protected] |
Definition at line 77 of file VehicleBase.cpp.
Member Function Documentation
| void VehicleBase::apply_force | ( | double | fx, |
| double | fy, | ||
| double | local_ptx = 0.0, |
||
| double | local_pty = 0.0 |
||
| ) | [virtual] |
Override to register external forces exerted by other WorldElements. Force is (fx,fy) in global coordinates. Application point is (local_ptx,local_pty) in the body local frame
Reimplemented from mvsim::Simulable.
Definition at line 766 of file VehicleBase.cpp.
| void mvsim::VehicleBase::clearLogs | ( | ) | [inline] |
Definition at line 155 of file VehicleBase.h.
| void VehicleBase::create_multibody_system | ( | b2World * | world | ) | [virtual] |
Create bodies, fixtures, etc. for the dynamical simulation. May be overrided by derived classes
Create bodies, fixtures, etc. for the dynamical simulation
Definition at line 635 of file VehicleBase.cpp.
| virtual void mvsim::VehicleBase::dynamics_load_params_from_xml | ( | const rapidxml::xml_node< char > * | xml_node | ) | [protected, pure virtual] |
Parse node <dynamics>: The derived-class part of load_params_from_xml(), also called in factory(). Includes parsing the <controller></controller> block.
Implemented in mvsim::DynamicsAckermannDrivetrain, mvsim::DynamicsAckermann, and mvsim::DynamicsDifferential.
| VehicleBase * VehicleBase::factory | ( | World * | parent, |
| const rapidxml::xml_node< char > * | root | ||
| ) | [static] |
Class factory: Creates a vehicle from XML description of type "<vehicle>...</vehicle>".
Definition at line 150 of file VehicleBase.cpp.
| VehicleBase * VehicleBase::factory | ( | World * | parent, |
| const std::string & | xml_text | ||
| ) | [static] |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 336 of file VehicleBase.cpp.
| b2Body* mvsim::VehicleBase::getBox2DChassisBody | ( | ) | [inline] |
Definition at line 86 of file VehicleBase.h.
| mrpt::math::TPoint2D mvsim::VehicleBase::getChassisCenterOfMass | ( | ) | const [inline] |
In local coordinates (this excludes the mass of wheels)
Definition at line 87 of file VehicleBase.h.
| virtual double mvsim::VehicleBase::getChassisMass | ( | ) | const [inline, virtual] |
Get the overall vehicle mass, excluding wheels.
Definition at line 85 of file VehicleBase.h.
| const mrpt::math::TPolygon2D& mvsim::VehicleBase::getChassisShape | ( | ) | const [inline] |
Get the 2D shape of the vehicle chassis, as set from the config file (only used for collision detection)
Definition at line 142 of file VehicleBase.h.
| virtual ControllerBaseInterface* mvsim::VehicleBase::getControllerInterface | ( | ) | [pure virtual] |
Implemented in mvsim::DynamicsAckermannDrivetrain, mvsim::DynamicsAckermann, and mvsim::DynamicsDifferential.
| mrpt::poses::CPose2D VehicleBase::getCPose2D | ( | ) | const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 536 of file VehicleBase.cpp.
| std::shared_ptr<CSVLogger> mvsim::VehicleBase::getLoggerPtr | ( | std::string | logger_name | ) | [inline] |
Definition at line 133 of file VehicleBase.h.
| virtual float mvsim::VehicleBase::getMaxVehicleRadius | ( | ) | const [inline, virtual] |
Get (an approximation of) the max radius of the vehicle, from its point of reference (in meters)
Definition at line 83 of file VehicleBase.h.
| const std::string& mvsim::VehicleBase::getName | ( | ) | const [inline] |
User-supplied name of the vehicle (e.g. "r1", "veh1")
Definition at line 139 of file VehicleBase.h.
| size_t mvsim::VehicleBase::getNumWheels | ( | ) | const [inline] |
Definition at line 92 of file VehicleBase.h.
| const mrpt::math::TPose3D& mvsim::VehicleBase::getPose | ( | ) | const [inline] |
Last time-step pose (of the ref. point, in global coords) (ground-truth)
Definition at line 98 of file VehicleBase.h.
| const TListSensors& mvsim::VehicleBase::getSensors | ( | ) | const [inline] |
Definition at line 131 of file VehicleBase.h.
| TListSensors& mvsim::VehicleBase::getSensors | ( | ) | [inline] |
Definition at line 132 of file VehicleBase.h.
| size_t mvsim::VehicleBase::getVehicleIndex | ( | ) | const [inline] |
Get the vehicle index in the World
Definition at line 150 of file VehicleBase.h.
| const vec3& mvsim::VehicleBase::getVelocity | ( | ) | const [inline] |
Last time-step velocity (of the ref. point, in global coords) (ground-truth)
Definition at line 112 of file VehicleBase.h.
| vec3 VehicleBase::getVelocityLocal | ( | ) | const |
Last time-step velocity (of the ref. point, in local coords) (ground-truth)
- See also:
- getVelocityLocalOdoEstimate()
Last time-step velocity (of the ref. point, in local coords)
Definition at line 525 of file VehicleBase.cpp.
| virtual vec3 mvsim::VehicleBase::getVelocityLocalOdoEstimate | ( | ) | const [pure 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.
- See also:
- getVelocityLocal()
Implemented in mvsim::DynamicsAckermannDrivetrain, mvsim::DynamicsAckermann, and mvsim::DynamicsDifferential.
| const Wheel& mvsim::VehicleBase::getWheelInfo | ( | const size_t | idx | ) | const [inline] |
Definition at line 93 of file VehicleBase.h.
| Wheel& mvsim::VehicleBase::getWheelInfo | ( | const size_t | idx | ) | [inline] |
Definition at line 97 of file VehicleBase.h.
| void VehicleBase::getWheelsVelocityLocal | ( | std::vector< mrpt::math::TPoint2D > & | vels, |
| const vec3 & | veh_vel_local | ||
| ) | const |
Current velocity of each wheel's center point (in local coords). Call with veh_vel_local=getVelocityLocal() for ground-truth.
Last time-step velocity of each wheel's center point (in local coords)
Definition at line 503 of file VehicleBase.cpp.
| void VehicleBase::gui_update | ( | mrpt::opengl::COpenGLScene & | scene | ) | [virtual] |
Must create a new object in the scene and/or update it according to the current state. If overrided in derived classes, it may be time-saving to call gui_update_common() and associated methods for 3D elements common to any vehicle.
Implements mvsim::VisualObject.
Definition at line 712 of file VehicleBase.cpp.
| void VehicleBase::gui_update_common | ( | mrpt::opengl::COpenGLScene & | scene, |
| bool | defaultVehicleBody = true |
||
| ) | [protected] |
To be called at derived classes' gui_update(), updates all stuff common to any vehicle type. Calls: internal_gui_update_sensors(), internal_gui_update_forces()
- Parameters:
-
[in] defaultVehicleBody If true, will draw default wheels & vehicle chassis.
To be called at derived classes' gui_update()
Definition at line 542 of file VehicleBase.cpp.
| void VehicleBase::initLoggers | ( | ) | [protected, virtual] |
Definition at line 717 of file VehicleBase.cpp.
| virtual void mvsim::VehicleBase::invoke_motor_controllers | ( | const TSimulContext & | context, |
| std::vector< double > & | out_force_per_wheel | ||
| ) | [protected, pure virtual] |
Implemented in mvsim::DynamicsAckermannDrivetrain, mvsim::DynamicsAckermann, and mvsim::DynamicsDifferential.
| void mvsim::VehicleBase::newLogSession | ( | ) | [inline] |
Definition at line 159 of file VehicleBase.h.
| void VehicleBase::register_vehicle_class | ( | const rapidxml::xml_node< char > * | xml_node | ) | [static] |
Register a new class of vehicles from XML description of type "<vehicle:class name='name'>...</vehicle:class>".
Definition at line 126 of file VehicleBase.cpp.
| void mvsim::VehicleBase::setPose | ( | const mrpt::math::TPose3D & | p | ) | const [inline] |
Manually override vehicle pose (Use with caution!) (purposely set as "const")
Definition at line 103 of file VehicleBase.h.
| void mvsim::VehicleBase::setRecording | ( | bool | record | ) | [inline] |
Definition at line 151 of file VehicleBase.h.
| void mvsim::VehicleBase::setVehicleIndex | ( | size_t | idx | ) | [inline] |
Set the vehicle index in the World
Definition at line 148 of file VehicleBase.h.
| void VehicleBase::simul_post_timestep | ( | const TSimulContext & | context | ) | [virtual] |
Override to do any required process right after the integration of dynamic equations for each timestep
Reimplemented from mvsim::Simulable.
Definition at line 463 of file VehicleBase.cpp.
| void VehicleBase::simul_post_timestep_common | ( | const TSimulContext & | context | ) |
Gets the body dynamical state into q, dot{q}
Definition at line 102 of file VehicleBase.cpp.
| void VehicleBase::simul_pre_timestep | ( | const TSimulContext & | context | ) | [virtual] |
Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.
Reimplemented from mvsim::Simulable.
Definition at line 360 of file VehicleBase.cpp.
| void VehicleBase::writeLogStrings | ( | ) | [protected, virtual] |
Definition at line 757 of file VehicleBase.cpp.
Member Data Documentation
std::string mvsim::VehicleBase::m_log_path [protected] |
Definition at line 176 of file VehicleBase.h.
std::map<std::string, std::shared_ptr<CSVLogger> > mvsim::VehicleBase::m_loggers [protected] |
Definition at line 175 of file VehicleBase.h.
std::string mvsim::VehicleBase::m_name [protected] |
User-supplied name of the vehicle (e.g. "r1", "veh1")
Definition at line 205 of file VehicleBase.h.
size_t mvsim::VehicleBase::m_vehicle_index [protected] |
user-supplied index number: must be set/get'ed
Definition at line 206 of file VehicleBase.h.
The documentation for this class was generated from the following files: