Simple car model with front wheel actuation. More...

#include <simple_car.h>

Inheritance diagram for mpc_local_planner::SimpleCarFrontWheelDrivingModel:

[legend]

Public Member Functions
void	dynamics (const Eigen::Ref< const StateVector > &x, const Eigen::Ref< const ControlVector > &u, Eigen::Ref< StateVector > f) const override

SystemDynamicsInterface::Ptr	getInstance () const override

	SimpleCarFrontWheelDrivingModel ()=default
	Default constructor. More...

	SimpleCarFrontWheelDrivingModel (double wheelbase)
	Constructs model with given wheelbase. More...

Public Member Functions inherited from mpc_local_planner::SimpleCarModel
int	getInputDimension () const override

bool	getTwistFromControl (const Eigen::Ref< const Eigen::VectorXd > &u, geometry_msgs::Twist &twist) const override
	Convert control vector to twist message. More...

double	getWheelbase () const
	Get wheelbase. More...

void	setWheelbase (double wheelbase)
	Set wheelbase. More...

	SimpleCarModel ()=default
	Default constructor. More...

	SimpleCarModel (double wheelbase)
	Constructs model with given wheelbase. More...

Public Member Functions inherited from mpc_local_planner::BaseRobotSE2
	BaseRobotSE2 ()=default
	Default constructor. More...

void	getPoseSE2FromState (const Eigen::Ref< const Eigen::VectorXd > &x, double &pos_x, double &pos_y, double &theta) const override
	Convert state vector to pose (x,y,theta) More...

void	getPositionFromState (const Eigen::Ref< const Eigen::VectorXd > &x, double &pos_x, double &pos_y) const override
	Convert state vector to position (x,y) More...

int	getStateDimension () const override

void	getSteadyStateFromPoseSE2 (double pos_x, double pos_y, double theta, Eigen::Ref< Eigen::VectorXd > x) const override
	Convert pose (x,y,theta) to steady state. More...

bool	isContinuousTime () const override

bool	isLinear () const override

virtual bool	mergeStateFeedbackAndOdomFeedback (const teb_local_planner::PoseSE2 &odom_pose, const geometry_msgs::Twist &odom_twist, Eigen::Ref< Eigen::VectorXd > x) const override
	Merge custom state feedback with pose and twist feedback. More...

Public Member Functions inherited from mpc_local_planner::RobotDynamicsInterface
virtual void	getPoseSE2FromState (const Eigen::Ref< const Eigen::VectorXd > &x, teb_local_planner::PoseSE2 &pose) const
	Convert state vector to PoseSE2 object. More...

virtual void	getSteadyStateFromPoseSE2 (const teb_local_planner::PoseSE2 &pose, Eigen::Ref< Eigen::VectorXd > x) const
	Convert PoseSE2 to steady state. More...

virtual void	reset ()

Public Member Functions inherited from corbo::SystemDynamicsInterface
virtual double	getDeadTime () const

virtual void	getLinearA (const StateVector &x0, const ControlVector &u0, Eigen::MatrixXd &A) const

virtual void	getLinearB (const StateVector &x0, const ControlVector &u0, Eigen::MatrixXd &B) const

void	setLinearizationMethod (std::shared_ptr< FiniteDifferencesInterface > lin_method)

	SystemDynamicsInterface ()

virtual	~SystemDynamicsInterface ()=default

Additional Inherited Members
Public Types inherited from mpc_local_planner::BaseRobotSE2
using	Ptr = std::shared_ptr< BaseRobotSE2 >

Public Types inherited from mpc_local_planner::RobotDynamicsInterface
using	Ptr = std::shared_ptr< RobotDynamicsInterface >

Public Types inherited from corbo::SystemDynamicsInterface
typedef Eigen::VectorXd	ControlVector

typedef std::shared_ptr< SystemDynamicsInterface >	Ptr

typedef Eigen::VectorXd	StateVector

Protected Attributes inherited from mpc_local_planner::SimpleCarModel
double	_wheelbase = 1.0

Detailed Description

Simple car model with front wheel actuation.

This class implements the dynamics for a simple car model in which the front wheels are actuated and steered (for wheelbase > 0). The state vector [x, y, theta] is defined at the center of the rear axle. See [1] for a mathematical description and a figure.

[1] A. De Luca et al., Feedback Control of a Nonholonomic Car-like Robot, in Robot Motion Planning and Control (Ed. J.-P. Laumond), Springer, 1998. (https://homepages.laas.fr/jpl/promotion/chap4.pdf)

See also: SimpleCarFrontWheelDrivingModel BaseRobotSE2 RobotDynamicsInterface corbo::SystemDynamicsInterface

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 118 of file simple_car.h.

Constructor & Destructor Documentation

◆ SimpleCarFrontWheelDrivingModel() [1/2]

mpc_local_planner::SimpleCarFrontWheelDrivingModel::SimpleCarFrontWheelDrivingModel ( )

default

Default constructor.

◆ SimpleCarFrontWheelDrivingModel() [2/2]

mpc_local_planner::SimpleCarFrontWheelDrivingModel::SimpleCarFrontWheelDrivingModel ( double wheelbase )

inline

Constructs model with given wheelbase.

Definition at line 125 of file simple_car.h.

Member Function Documentation

◆ dynamics()

void mpc_local_planner::SimpleCarFrontWheelDrivingModel::dynamics	(	const Eigen::Ref< const StateVector > &	x,
		const Eigen::Ref< const ControlVector > &	u,
		Eigen::Ref< StateVector >	f
	)		const