#include <VehicleAckermann.h>

Inheritance diagram for mvsim::DynamicsAckermann:

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 }

Public Types inherited from mvsim::VehicleBase
typedef std::vector< SensorBase::Ptr >	TListSensors

Public Member Functions
void	computeFrontWheelAngles (const double desired_equiv_steer_ang, double &out_fl_ang, double &out_fr_ang) const

	DynamicsAckermann (World *parent)

double	getMaxSteeringAngle () const

virtual vec3	getVelocityLocalOdoEstimate () const

void	setMaxSteeringAngle (double val)

Public Member Functions inherited from mvsim::VehicleBase
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) More...

virtual double	getChassisMass () const

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

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

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)

Public Member Functions inherited from mvsim::VisualObject
World *	getWorldObject ()

const World *	getWorldObject () const

	VisualObject (World *parent)

virtual	~VisualObject ()

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)

Protected Member Functions inherited from mvsim::VehicleBase
void	gui_update_common (mrpt::opengl::COpenGLScene &scene, bool defaultVehicleBody=true)

virtual void	initLoggers ()

	VehicleBase (World *parent, size_t nWheels)

virtual void	writeLogStrings ()

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

double	m_max_steer_ang

Controllers
typedef ControllerBaseTempl< DynamicsAckermann >	ControllerBase

typedef std::shared_ptr< ControllerBase >	ControllerBasePtr

const ControllerBasePtr &	getController () const

ControllerBasePtr &	getController ()

virtual ControllerBaseInterface *	getControllerInterface ()

Additional Inherited Members
Static Public Member Functions inherited from mvsim::VehicleBase
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 Attributes inherited from mvsim::VehicleBase
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") More...

size_t	m_vehicle_index

Protected Attributes inherited from mvsim::VisualObject
World *	m_world

Detailed Description

Implementation of 4 wheels Ackermann-driven vehicles.

See also: class factory in VehicleBase::factory

Definition at line 36 of file VehicleAckermann.h.

Member Typedef Documentation

typedef ControllerBaseTempl<DynamicsAckermann> mvsim::DynamicsAckermann::ControllerBase

Virtual base for controllers of vehicles of type DynamicsAckermann

Definition at line 76 of file VehicleAckermann.h.

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

Definition at line 77 of file VehicleAckermann.h.

Member Enumeration Documentation

anonymous enum

Enumerator
WHEEL_RL
WHEEL_RR
WHEEL_FL
WHEEL_FR

Definition at line 41 of file VehicleAckermann.h.

Constructor & Destructor Documentation

DynamicsAckermann::DynamicsAckermann ( World * parent )

Definition at line 23 of file VehicleAckermann.cpp.

Member Function Documentation

void DynamicsAckermann::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 202 of file VehicleAckermann.cpp.

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

protectedvirtual

The derived-class part of load_params_from_xml()

Implements mvsim::VehicleBase.

Definition at line 63 of file VehicleAckermann.cpp.

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

inline

Definition at line 159 of file VehicleAckermann.h.

ControllerBasePtr& mvsim::DynamicsAckermann::getController ( )

inline

Definition at line 160 of file VehicleAckermann.h.

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

inlinevirtual

Implements mvsim::VehicleBase.

Definition at line 161 of file VehicleAckermann.h.

double mvsim::DynamicsAckermann::getMaxSteeringAngle ( ) const

inline

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

Definition at line 52 of file VehicleAckermann.h.

vec3 DynamicsAckermann::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 228 of file VehicleAckermann.cpp.

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

protectedvirtual

Implements mvsim::VehicleBase.

Definition at line 174 of file VehicleAckermann.cpp.

void mvsim::DynamicsAckermann::setMaxSteeringAngle ( double val )

inline

Definition at line 53 of file VehicleAckermann.h.

Member Data Documentation

ControllerBasePtr mvsim::DynamicsAckermann::m_controller

private

The installed controller.

Definition at line 188 of file VehicleAckermann.h.

double mvsim::DynamicsAckermann::m_max_steer_ang

private

The maximum steering angle (rad). Determines

Definition at line 190 of file VehicleAckermann.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Controllers

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation