Kinematic Bicycle Model with Velocity Input. More...

#include <kinematic_bicycle_model.h>

Inheritance diagram for mpc_local_planner::KinematicBicycleModelVelocityInput:

[legend]

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

int	getInputDimension () const override

SystemDynamicsInterface::Ptr	getInstance () const override

double	getLengthFront () const
	Get length between COG and front axle. More...

double	getLengthRear () const
	Get length between COG and rear axle. More...

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

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

	KinematicBicycleModelVelocityInput (double lr, double lf)
	Constructs model with given wheelbase. More...

void	setParameters (double lr, double lf)
	Set parameters. 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

Protected Attributes
double	_lf = 1.0

double	_lr = 1.0

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

Detailed Description

Kinematic Bicycle Model with Velocity Input.

This class implements the dynamics for a kinematic bicycle model. Note, in this model the robot coordinate system is located at the center of gravity which is between the rear and the front axle. In case you want to define the coordinate system at the rear axle, please refer to the simplified equations simple_car.h (SimpleCarModel).

[1] R. Rajamani, Vehicle Dynamics and Control, Springer, 2012. [2] J. Kong et al., Kinematic and Dynamic Vehicle Models for Autonomous Driving Control Design, IV, 2015.

See also: SimpleCarModel 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 69 of file kinematic_bicycle_model.h.

Constructor & Destructor Documentation

◆ KinematicBicycleModelVelocityInput() [1/2]

mpc_local_planner::KinematicBicycleModelVelocityInput::KinematicBicycleModelVelocityInput ( )

default

Default constructor.

◆ KinematicBicycleModelVelocityInput() [2/2]

mpc_local_planner::KinematicBicycleModelVelocityInput::KinematicBicycleModelVelocityInput	(	double	lr,
		double	lf
	)

inline

Constructs model with given wheelbase.

Definition at line 96 of file kinematic_bicycle_model.h.

Member Function Documentation

◆ dynamics()

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

inlineoverridevirtual

Implements mpc_local_planner::BaseRobotSE2.

Definition at line 105 of file kinematic_bicycle_model.h.

◆ getInputDimension()

int mpc_local_planner::KinematicBicycleModelVelocityInput::getInputDimension ( ) const

inlineoverridevirtual

Implements mpc_local_planner::BaseRobotSE2.

Definition at line 102 of file kinematic_bicycle_model.h.

◆ getInstance()

SystemDynamicsInterface::Ptr mpc_local_planner::KinematicBicycleModelVelocityInput::getInstance ( ) const

inlineoverridevirtual

Implements mpc_local_planner::BaseRobotSE2.

Definition at line 99 of file kinematic_bicycle_model.h.

◆ getLengthFront()

double mpc_local_planner::KinematicBicycleModelVelocityInput::getLengthFront ( ) const

inline

Get length between COG and front axle.

Definition at line 139 of file kinematic_bicycle_model.h.

◆ getLengthRear()

double mpc_local_planner::KinematicBicycleModelVelocityInput::getLengthRear ( ) const

inline

Get length between COG and rear axle.

Definition at line 141 of file kinematic_bicycle_model.h.

◆ getTwistFromControl()

bool mpc_local_planner::KinematicBicycleModelVelocityInput::getTwistFromControl	(	const Eigen::Ref< const Eigen::VectorXd > &	u,
		geometry_msgs::Twist &	twist
	)		const

inlineoverridevirtual

Convert control vector to twist message.

Convert the control vector to a twist message (containing velocity information) if possible.

Todo:: Maybe add current state x as optional input to allow for computing a twist out of the first state and control

Parameters

[in]	u	Reference to the control vector [getInputDimension() x 1]
[out]	twist	Reference to the twist message

Returns: true, if conversion was successful, false otherwise

Implements mpc_local_planner::RobotDynamicsInterface.

Definition at line 120 of file kinematic_bicycle_model.h.

◆ setParameters()

void mpc_local_planner::KinematicBicycleModelVelocityInput::setParameters	(	double	lr,
		double	lf
	)

inline

Set parameters.

Definition at line 133 of file kinematic_bicycle_model.h.

Member Data Documentation

◆ _lf

double mpc_local_planner::KinematicBicycleModelVelocityInput::_lf = 1.0

protected

Definition at line 145 of file kinematic_bicycle_model.h.

◆ _lr

double mpc_local_planner::KinematicBicycleModelVelocityInput::_lr = 1.0

protected

Definition at line 144 of file kinematic_bicycle_model.h.

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

kinematic_bicycle_model.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ KinematicBicycleModelVelocityInput() [1/2]

◆ KinematicBicycleModelVelocityInput() [2/2]

Member Function Documentation

◆ dynamics()

◆ getInputDimension()

◆ getInstance()

◆ getLengthFront()

◆ getLengthRear()

◆ getTwistFromControl()

◆ setParameters()

Member Data Documentation

◆ _lf

◆ _lr