#include <VehicleAckermann_Drivetrain.h>

Inheritance diagram for mvsim::DynamicsAckermannDrivetrain:

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 }
enum	DifferentialType { DIFF_OPEN_FRONT = 0, DIFF_OPEN_REAR = 1, DIFF_OPEN_4WD = 2, DIFF_TORSEN_FRONT = 3, DIFF_TORSEN_REAR = 4, DIFF_TORSEN_4WD = 5, DIFF_MAX }
Public Member Functions
void	computeDiffTorqueSplit (const double w1, const double w2, const double diffBias, const double defaultSplitRatio, double &t1, double &t2)
void	computeFrontWheelAngles (const double desired_equiv_steer_ang, double &out_fl_ang, double &out_fr_ang) const
	DynamicsAckermannDrivetrain (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.
DifferentialType	m_diff_type
	min turning radius
double	m_FrontLRBias
double	m_FrontLRSplit
double	m_FrontRearBias
double	m_FrontRearSplit
double	m_max_steer_ang
double	m_RearLRBias
double	m_RearLRSplit
Controllers
typedef ControllerBaseTempl < DynamicsAckermannDrivetrain >	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 with drivetrain As motor input of drivetrain acts controller torque. Differential model is based on observations of Torsen-like differentials work. http://www.flashoffroad.com/features/Torsen/Torsen_white_paper.pdf

See also:: class factory in VehicleBase::factory

Definition at line 29 of file VehicleAckermann_Drivetrain.h.

Member Typedef Documentation

typedef ControllerBaseTempl<DynamicsAckermannDrivetrain> mvsim::DynamicsAckermannDrivetrain::ControllerBase

Virtual base for controllers of vehicles of type DynamicsAckermannLSDiff

Definition at line 76 of file VehicleAckermann_Drivetrain.h.

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

Definition at line 77 of file VehicleAckermann_Drivetrain.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

WHEEL_RL
WHEEL_RR
WHEEL_FL
WHEEL_FR

Definition at line 34 of file VehicleAckermann_Drivetrain.h.

enum mvsim::DynamicsAckermannDrivetrain::DifferentialType

Enumerator:

DIFF_OPEN_FRONT
DIFF_OPEN_REAR
DIFF_OPEN_4WD
DIFF_TORSEN_FRONT
DIFF_TORSEN_REAR
DIFF_TORSEN_4WD
DIFF_MAX

Definition at line 42 of file VehicleAckermann_Drivetrain.h.

Constructor & Destructor Documentation

DynamicsAckermannDrivetrain::DynamicsAckermannDrivetrain ( World * parent )

Definition at line 23 of file VehicleAckermann_Drivetrain.cpp.

Member Function Documentation

void DynamicsAckermannDrivetrain::computeDiffTorqueSplit	(	const double	w1,
		const double	w2,
		const double	diffBias,
		const double	defaultSplitRatio,
		double &	t1,
		double &	t2
	)

Computes differential split for Torsen-like limited slip differentials.

Definition at line 386 of file VehicleAckermann_Drivetrain.cpp.

void DynamicsAckermannDrivetrain::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 361 of file VehicleAckermann_Drivetrain.cpp.

void DynamicsAckermannDrivetrain::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 73 of file VehicleAckermann_Drivetrain.cpp.

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

Definition at line 156 of file VehicleAckermann_Drivetrain.h.

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

Definition at line 157 of file VehicleAckermann_Drivetrain.h.

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

Implements mvsim::VehicleBase.

Definition at line 158 of file VehicleAckermann_Drivetrain.h.

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

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

Definition at line 58 of file VehicleAckermann_Drivetrain.h.

vec3 DynamicsAckermannDrivetrain::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.

See also:: getVelocityLocal()

Implements mvsim::VehicleBase.

Definition at line 418 of file VehicleAckermann_Drivetrain.cpp.

void DynamicsAckermannDrivetrain::invoke_motor_controllers	(	const TSimulContext &	context,
		std::vector< double > &	out_force_per_wheel
	)		`[protected, virtual]`