mvsim::DynamicsDifferential Class Reference

#include <VehicleDifferential.h>

Inheritance diagram for mvsim::DynamicsDifferential:

List of all members.

Classes
class	ControllerRawForces
class	ControllerTwistPID
struct	TControllerInput
struct	TControllerOutput
Public Types
enum	{ WHEEL_L = 0, WHEEL_R = 1 }
Public Member Functions
	DynamicsDifferential (World *parent)
virtual vec3	getVelocityLocalOdoEstimate () const
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.
Controllers
typedef ControllerBaseTempl < DynamicsDifferential >	ControllerBase
typedef std::shared_ptr < ControllerBase >	ControllerBasePtr
const ControllerBasePtr &	getController () const
ControllerBasePtr &	getController ()
virtual ControllerBaseInterface *	getControllerInterface ()

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Detailed Description

Implementation of differential-driven vehicles.

See also:

class factory in VehicleBase::factory

Definition at line 22 of file VehicleDifferential.h.

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Member Typedef Documentation

typedef ControllerBaseTempl<DynamicsDifferential> mvsim::DynamicsDifferential::ControllerBase

Virtual base for controllers of vehicles of type DynamicsDifferential

Definition at line 48 of file VehicleDifferential.h.

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

Definition at line 49 of file VehicleDifferential.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

WHEEL_L
WHEEL_R

Definition at line 26 of file VehicleDifferential.h.

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Constructor & Destructor Documentation

DynamicsDifferential::DynamicsDifferential

(

World *

parent

)

Definition at line 22 of file VehicleDifferential.cpp.

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Member Function Documentation

void DynamicsDifferential::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 47 of file VehicleDifferential.cpp.

const ControllerBasePtr& mvsim::DynamicsDifferential::getController

(

)

const [inline]

Definition at line 107 of file VehicleDifferential.h.

ControllerBasePtr& mvsim::DynamicsDifferential::getController

(

)

[inline]

Definition at line 108 of file VehicleDifferential.h.

virtual ControllerBaseInterface* mvsim::DynamicsDifferential::getControllerInterface

(

)

[inline, virtual]

Implements mvsim::VehicleBase.

Definition at line 109 of file VehicleDifferential.h.

vec3 DynamicsDifferential::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 149 of file VehicleDifferential.cpp.

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

Implements mvsim::VehicleBase.

Definition at line 129 of file VehicleDifferential.cpp.

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Member Data Documentation

ControllerBasePtr mvsim::DynamicsDifferential::m_controller [private]

The installed controller.

Definition at line 127 of file VehicleDifferential.h.

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

• VehicleDifferential.h
• VehicleDifferential.cpp