mvsim::DynamicsDifferential Class Reference

#include <VehicleDifferential.h>

Inheritance diagram for mvsim::DynamicsDifferential:

Classes
struct	ConfigPerWheel
class	ControllerRawForces
class	ControllerTwistIdeal
class	ControllerTwistPID
struct	TControllerInput
struct	TControllerOutput

Public Types
enum	{   WHEEL_L = 0, WHEEL_R = 1, WHEEL_CASTER_FRONT = 2, WHEEL_LR = 0,   WHEEL_RR = 1, WHEEL_LF = 2, WHEEL_RF = 3 }
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
	DynamicsDifferential (World *parent)
	DynamicsDifferential (World *parent, const std::vector< ConfigPerWheel > &cfgPerWheel)
virtual mrpt::math::TTwist2D	getVelocityLocalOdoEstimate () const override
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
virtual void	invoke_motor_controllers_post_step (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)

Protected Attributes
const std::vector< ConfigPerWheel >	configPerWheel_
	Defined at ctor time: More...
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_

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

Controllers
using	ControllerBase = ControllerBaseTempl< DynamicsDifferential >
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

Detailed Description

Implementation of differential-driven vehicles with only two wheels. Simplified model for pure planar scenarios only, do not use with ramps. For that, use Differential or Ackermann models with 3 or 4 wheels.

See also

class factory in VehicleBase::factory

Definition at line 24 of file VehicleDifferential.h.

Member Typedef Documentation

ControllerBase

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

Virtual base for controllers of vehicles of type DynamicsDifferential

Definition at line 84 of file VehicleDifferential.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
WHEEL_L
WHEEL_R
WHEEL_CASTER_FRONT
WHEEL_LR
WHEEL_RR
WHEEL_LF
WHEEL_RF

Definition at line 28 of file VehicleDifferential.h.

Constructor & Destructor Documentation

DynamicsDifferential() [1/2]

mvsim::DynamicsDifferential::DynamicsDifferential ( World *  parent )

inline

Definition at line 55 of file VehicleDifferential.h.

DynamicsDifferential() [2/2]

DynamicsDifferential::DynamicsDifferential	(	World *	parent,
		const std::vector< ConfigPerWheel > &	cfgPerWheel
	)

Definition at line 22 of file VehicleDifferential.cpp.

Member Function Documentation

dynamics_load_params_from_xml()

void DynamicsDifferential::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 49 of file VehicleDifferential.cpp.

getController() [1/2]

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

inline

Definition at line 194 of file VehicleDifferential.h.

getController() [2/2]

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

inline

Definition at line 195 of file VehicleDifferential.h.

getControllerInterface()

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

inlineoverridevirtual

Implements mvsim::VehicleBase.

Definition at line 196 of file VehicleDifferential.h.

getVelocityLocalOdoEstimate()

mrpt::math::TTwist2D DynamicsDifferential::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.

See also

getVelocityLocal()

Implements mvsim::VehicleBase.

Definition at line 184 of file VehicleDifferential.cpp.

invoke_motor_controllers()

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

overrideprotectedvirtual

Implements mvsim::VehicleBase.

Definition at line 137 of file VehicleDifferential.cpp.

invoke_motor_controllers_post_step()

void DynamicsDifferential::invoke_motor_controllers_post_step ( const TSimulContext &  context )

overrideprotectedvirtual

Definition at line 177 of file VehicleDifferential.cpp.

Member Data Documentation

configPerWheel_

const std::vector<ConfigPerWheel> mvsim::DynamicsDifferential::configPerWheel_

protected

Defined at ctor time:

Definition at line 216 of file VehicleDifferential.h.

controller_

ControllerBase::Ptr mvsim::DynamicsDifferential::controller_

private

The installed controller.

Definition at line 219 of file VehicleDifferential.h.

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

• VehicleDifferential.h
• VehicleDifferential.cpp