#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 >

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	chassisAndWheelsVisible (bool visible)

void	clearLogs ()

virtual void	create_multibody_system (b2World &world)

void	freeOpenGLResources () override

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)

std::vector< mrpt::math::TVector2D >	getWheelsVelocityLocal (const mrpt::math::TTwist2D &veh_vel_local) const

void	newLogSession ()

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
const std::optional< Shape2p5 > &	collisionShape () const

void	customVisualVisible (const bool visible)

bool	customVisualVisible () const

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

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...

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...

mrpt::math::TVector3D	getLinearAcceleration () const

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only. More...

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

mrpt::math::TTwist2D	getTwist () 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

	Simulable (World *parent)

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

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

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

virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

virtual void	invoke_motor_controllers_post_step ([[maybe_unused]] const TSimulContext &context)

VisualObject *	meAsVisualObject () override

void	updateMaxRadiusFromPoly ()

	VehicleBase (World *parent, size_t nWheels)

virtual void	writeLogStrings ()

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

bool	parseVisual (const JointXMLnode<> &rootNode)

void	setCollisionShape (const Shape2p5 &cs)

Private Attributes
ControllerBase::Ptr	controller_
	The installed controller. More...

DifferentialType	diff_type_
	min turning radius More...

double	FrontLRBias_

double	FrontLRSplit_

double	FrontRearBias_

double	FrontRearSplit_

double	max_steer_ang_

double	RearLRBias_

double	RearLRSplit_

Controllers
using	ControllerBase = ControllerBaseTempl< DynamicsAckermannDrivetrain >

const ControllerBase::Ptr &	getController () const

ControllerBase::Ptr &	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 Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

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"

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Protected Attributes inherited from mvsim::VehicleBase
mrpt::img::TColor	chassis_color_ {0xff, 0x00, 0x00}

mrpt::math::TPoint2D	chassis_com_ {0, 0}

double	chassis_mass_ = 15.0

mrpt::math::TPolygon2D	chassis_poly_

double	chassis_z_max_ = 0.6

double	chassis_z_min_ = 0.05

b2Fixture *	fixture_chassis_
	Created at. More...

std::vector< b2Fixture * >	fixture_wheels_

FrictionBasePtr	friction_

std::string	log_path_

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

double	maxRadius_ = 0.1

TListSensors	sensors_
	Sensors aboard. More...

size_t	vehicle_index_ = 0

std::deque< Wheel >	wheels_info_

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

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

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

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

◆ ControllerBase

using mvsim::DynamicsAckermannDrivetrain::ControllerBase = ControllerBaseTempl<DynamicsAckermannDrivetrain>

Virtual base for controllers of vehicles of type DynamicsAckermannLSDiff

Definition at line 73 of file VehicleAckermann_Drivetrain.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
WHEEL_RL
WHEEL_RR
WHEEL_FL
WHEEL_FR

Definition at line 31 of file VehicleAckermann_Drivetrain.h.

◆ DifferentialType

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::DynamicsAckermannDrivetrain ( World * parent )

Definition at line 23 of file VehicleAckermann_Drivetrain.cpp.

Member Function Documentation

◆ computeDiffTorqueSplit()

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 390 of file VehicleAckermann_Drivetrain.cpp.

◆ computeFrontWheelAngles()

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 365 of file VehicleAckermann_Drivetrain.cpp.

◆ dynamics_load_params_from_xml()

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.

◆ getController() [1/2]

const ControllerBase::Ptr& mvsim::DynamicsAckermannDrivetrain::getController ( ) const

inline

Definition at line 149 of file VehicleAckermann_Drivetrain.h.

◆ getController() [2/2]

ControllerBase::Ptr& mvsim::DynamicsAckermannDrivetrain::getController ( )

inline

Definition at line 150 of file VehicleAckermann_Drivetrain.h.

◆ getControllerInterface()

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

inlineoverridevirtual

Implements mvsim::VehicleBase.

Definition at line 151 of file VehicleAckermann_Drivetrain.h.

◆ getMaxSteeringAngle()

double mvsim::DynamicsAckermannDrivetrain::getMaxSteeringAngle ( ) const

inline

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

Definition at line 55 of file VehicleAckermann_Drivetrain.h.

◆ getVelocityLocalOdoEstimate()

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.