#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 Types inherited from mvsim::VehicleBase
using	Ptr = std::shared_ptr< VehicleBase >

typedef std::vector< SensorBase::Ptr >	TListSensors

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

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 mrpt::math::TTwist2D	getVelocityLocalOdoEstimate () const override

void	setMaxSteeringAngle (double val)

Public Member Functions inherited from mvsim::VehicleBase
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0)) override

void	clearLogs ()

virtual void	create_multibody_system (b2World &world)

b2Fixture *	get_fixture_chassis ()

const b2Fixture *	get_fixture_chassis () const

std::vector< b2Fixture * > &	get_fixture_wheels ()

const std::vector< b2Fixture * > &	get_fixture_wheels () const

b2Body *	getBox2DChassisBody ()

mrpt::math::TPoint2D	getChassisCenterOfMass () const
	In local coordinates (this excludes the mass of wheels) More...

virtual double	getChassisMass () const

const mrpt::math::TPolygon2D &	getChassisShape () const

std::shared_ptr< CSVLogger >	getLoggerPtr (std::string logger_name)

virtual float	getMaxVehicleRadius () const

size_t	getNumWheels () const

const TListSensors &	getSensors () const

TListSensors &	getSensors ()

size_t	getVehicleIndex () const

const Wheel &	getWheelInfo (const size_t idx) const

Wheel &	getWheelInfo (const size_t idx)

void	getWheelsVelocityLocal (std::vector< mrpt::math::TPoint2D > &vels, const mrpt::math::TTwist2D &veh_vel_local) const

void	newLogSession ()

void	poses_mutex_lock () override

void	poses_mutex_unlock () override

void	registerOnServer (mvsim::Client &c) override

void	setRecording (bool record)

void	setVehicleIndex (size_t idx)

virtual void	simul_post_timestep (const TSimulContext &context) override

virtual void	simul_pre_timestep (const TSimulContext &context) override

Public Member Functions inherited from mvsim::VisualObject
void	getVisualModelBoundingBox (mrpt::math::TPoint3D &bbmin, mrpt::math::TPoint3D &bbmax) const

World *	getWorldObject ()

const World *	getWorldObject () const

virtual void	guiUpdate (mrpt::opengl::COpenGLScene &scene)

void	showBoundingBox (bool show)

	VisualObject (World *parent)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
const b2Body *	b2d_body () const

b2Body *	b2d_body ()

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TTwist2D	getTwist () const

const mrpt::math::TTwist2D &	getVelocity () const

mrpt::math::TTwist2D	getVelocityLocal () const

bool	hadCollision () const

bool	isInCollision () const

void	resetCollisionFlag ()

void	setName (const std::string &s)

void	setPose (const mrpt::math::TPose3D &p) const

void	setTwist (const mrpt::math::TTwist2D &dq) const

Protected Member Functions
virtual void	dynamics_load_params_from_xml (const rapidxml::xml_node< char > *xml_node) override

virtual void	invoke_motor_controllers (const TSimulContext &context, std::vector< double > &out_force_per_wheel) override

Protected Member Functions inherited from mvsim::VehicleBase
virtual void	initLoggers ()

virtual mrpt::poses::CPose3D	internalGuiGetVisualPose () override

virtual void	internalGuiUpdate (mrpt::opengl::COpenGLScene &scene, bool childrenOnly) override

void	updateMaxRadiusFromPoly ()
	excludes the mass of wheels) More...

	VehicleBase (World *parent, size_t nWheels)

virtual void	writeLogStrings ()

Protected Member Functions inherited from mvsim::VisualObject
bool	parseVisual (const rapidxml::xml_node< char > *visual_node)

Private Attributes
ControllerBasePtr	m_controller
	The installed controller. More...

DifferentialType	m_diff_type
	min turning radius More...

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 () override

Additional Inherited Members
Static Public Member Functions inherited from mvsim::VehicleBase
static Ptr	factory (World parent, const rapidxml::xml_node< char > xml_node)

static Ptr	factory (World *parent, const std::string &xml_text)

static void	register_vehicle_class (const rapidxml::xml_node< char > *xml_node)

Static Public Attributes inherited from mvsim::VehicleBase
static constexpr char	DL_TIMESTAMP [] = "timestamp"

static constexpr char	LOGGER_POSE [] = "logger_pose"

static constexpr char	LOGGER_WHEEL [] = "logger_wheel"

static constexpr char	PL_DQ_X [] = "dQx"

static constexpr char	PL_DQ_Y [] = "dQy"

static constexpr char	PL_DQ_Z [] = "dQz"

static constexpr char	PL_Q_PITCH [] = "Qpitch"

static constexpr char	PL_Q_ROLL [] = "Qroll"

static constexpr char	PL_Q_X [] = "Qx"

static constexpr char	PL_Q_Y [] = "Qy"

static constexpr char	PL_Q_YAW [] = "Qyaw"

static constexpr char	PL_Q_Z [] = "Qz"

static constexpr char	WL_FRIC_X [] = "friction_x"

static constexpr char	WL_FRIC_Y [] = "friction_y"

static constexpr char	WL_TORQUE [] = "torque"

static constexpr char	WL_VEL_X [] = "velocity_x"

static constexpr char	WL_VEL_Y [] = "velocity_y"

static constexpr char	WL_WEIGHT [] = "weight"

Protected Attributes inherited from mvsim::VehicleBase
mrpt::img::TColor	m_chassis_color

mrpt::math::TPoint2D	m_chassis_com

double	m_chassis_mass

mrpt::math::TPolygon2D	m_chassis_poly

double	m_chassis_z_max

double	m_chassis_z_min
	each change via updateMaxRadiusFromPoly() More...

b2Fixture *	m_fixture_chassis
	Created at. More...

std::vector< b2Fixture * >	m_fixture_wheels

FrictionBasePtr	m_friction

std::string	m_log_path

std::map< std::string, std::shared_ptr< CSVLogger > >	m_loggers

double	m_max_radius

TListSensors	m_sensors
	Sensors aboard. More...

std::vector< double >	m_torque_per_wheel

size_t	m_vehicle_index

std::vector< Wheel >	m_wheels_info

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glBoundingBox

std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glCustomVisual

int32_t	m_glCustomVisualId = -1

World *	m_world

Protected Attributes inherited from mvsim::Simulable
std::string	m_name

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 26 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 73 of file VehicleAckermann_Drivetrain.h.

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

Definition at line 74 of file VehicleAckermann_Drivetrain.h.

Member Enumeration Documentation

anonymous enum

Enumerator
WHEEL_RL
WHEEL_RR
WHEEL_FL
WHEEL_FR

Definition at line 31 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 39 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 384 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 359 of file VehicleAckermann_Drivetrain.cpp.

void DynamicsAckermannDrivetrain::dynamics_load_params_from_xml ( const rapidxml::xml_node< char > * xml_node )

overrideprotectedvirtual

The derived-class part of load_params_from_xml()

Implements mvsim::VehicleBase.

Definition at line 72 of file VehicleAckermann_Drivetrain.cpp.

const ControllerBasePtr& mvsim::DynamicsAckermannDrivetrain::getController ( ) const

inline

Definition at line 150 of file VehicleAckermann_Drivetrain.h.

ControllerBasePtr& mvsim::DynamicsAckermannDrivetrain::getController ( )

inline

Definition at line 151 of file VehicleAckermann_Drivetrain.h.

virtual ControllerBaseInterface* mvsim::DynamicsAckermannDrivetrain::getControllerInterface ( )

inlineoverridevirtual

Implements mvsim::VehicleBase.

Definition at line 152 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::getMaxSteeringAngle ( ) const

inline

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

Definition at line 55 of file VehicleAckermann_Drivetrain.h.

mrpt::math::TTwist2D DynamicsAckermannDrivetrain::getVelocityLocalOdoEstimate ( ) const

overridevirtual

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.