VehicleDifferential.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under GNU General Public License version 3                  |
  |   See <http://www.gnu.org/licenses/>                                    |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mvsim/VehicleBase.h>
#include <mvsim/PID_Controller.h>

#include <mrpt/math/lightweight_geom_data.h>

namespace mvsim
{
class DynamicsDifferential : public VehicleBase
{
        DECLARES_REGISTER_VEHICLE_DYNAMICS(DynamicsDifferential)
   public:
        enum
        {
                WHEEL_L = 0,
                WHEEL_R = 1
        };

        DynamicsDifferential(World* parent);

        struct TControllerInput
        {
                TSimulContext context;
        };
        struct TControllerOutput
        {
                double wheel_torque_l, wheel_torque_r;
                TControllerOutput() : wheel_torque_l(0), wheel_torque_r(0) {}
        };

        typedef ControllerBaseTempl<DynamicsDifferential> ControllerBase;
        typedef std::shared_ptr<ControllerBase> ControllerBasePtr;

        class ControllerRawForces : public ControllerBase
        {
           public:
                ControllerRawForces(DynamicsDifferential& veh)
                        : ControllerBase(veh),
                          setpoint_wheel_torque_l(0),
                          setpoint_wheel_torque_r(0)
                {
                }
                static const char* class_name() { return "raw"; }
                double setpoint_wheel_torque_l, setpoint_wheel_torque_r;
                virtual void control_step(
                        const DynamicsDifferential::TControllerInput& ci,
                        DynamicsDifferential::TControllerOutput&
                                co);  // See base class docs
                virtual void teleop_interface(
                        const TeleopInput& in, TeleopOutput& out);  // See base class docs
        };

        class ControllerTwistPID : public ControllerBase
        {
           public:
                ControllerTwistPID(DynamicsDifferential& veh);
                static const char* class_name() { return "twist_pid"; }
                double setpoint_lin_speed,
                        setpoint_ang_speed;  
                virtual void control_step(
                        const DynamicsDifferential::TControllerInput& ci,
                        DynamicsDifferential::TControllerOutput&
                                co);  // See base class docs
                virtual void load_config(
                        const rapidxml::xml_node<char>& node);  // See base class docs
                virtual void teleop_interface(
                        const TeleopInput& in, TeleopOutput& out);  // See base class docs

                double KP, KI, KD;  
                double max_torque;  
                // See base docs.
                virtual bool setTwistCommand(const double vx, const double wz)
                {
                        setpoint_lin_speed = vx;
                        setpoint_ang_speed = wz;
                        return true;
                }

           private:
                double m_distWheels;
                PID_Controller m_PID[2];
        };

        const ControllerBasePtr& getController() const { return m_controller; }
        ControllerBasePtr& getController() { return m_controller; }
        virtual ControllerBaseInterface* getControllerInterface()
        {
                return m_controller.get();
        }
  // end controllers

        virtual vec3 getVelocityLocalOdoEstimate() const;  // See docs of base class

   protected:
        // See base class docs
        virtual void dynamics_load_params_from_xml(
                const rapidxml::xml_node<char>* xml_node);
        // See base class docs
        virtual void invoke_motor_controllers(
                const TSimulContext& context, std::vector<double>& out_force_per_wheel);

   private:
        ControllerBasePtr m_controller;  
};
}