Simple car model. More...

#include <simple_car.h>

Inheritance diagram for mpc_local_planner::SimpleCarModel:

[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

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

Protected Attributes
double	_wheelbase = 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

Simple car model.

This class implements the dynamics for a simple car model in which the rear wheels are actuated. The front wheels are the steering wheels (for wheelbase > 0). The state vector [x, y, theta] is defined at the center of the rear axle. See [1,2] for a mathematical description and a figure.

[1] S. M. LaValle, Planning Algorithms, Cambridge University Press, 2006. (Chapter 13, http://planning.cs.uiuc.edu/) [2] 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 KinematicBicycleModelVelocityInput 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 72 of file simple_car.h.

Constructor & Destructor Documentation

◆ SimpleCarModel() [1/2]

mpc_local_planner::SimpleCarModel::SimpleCarModel ( )

default

Default constructor.

◆ SimpleCarModel() [2/2]

mpc_local_planner::SimpleCarModel::SimpleCarModel ( double wheelbase )

inline

Constructs model with given wheelbase.

Definition at line 99 of file simple_car.h.

Member Function Documentation

◆ dynamics()

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

inlineoverridevirtual

Implements mpc_local_planner::BaseRobotSE2.

Reimplemented in mpc_local_planner::SimpleCarFrontWheelDrivingModel.

Definition at line 108 of file simple_car.h.

◆ getInputDimension()

int mpc_local_planner::SimpleCarModel::getInputDimension ( ) const

inlineoverridevirtual

Implements mpc_local_planner::BaseRobotSE2.

Definition at line 105 of file simple_car.h.

◆ getInstance()

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

inlineoverridevirtual

Implements mpc_local_planner::BaseRobotSE2.

Reimplemented in mpc_local_planner::SimpleCarFrontWheelDrivingModel.

Definition at line 102 of file simple_car.h.

◆ getTwistFromControl()

bool mpc_local_planner::SimpleCarModel::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 simple_car.h.

◆ getWheelbase()

double mpc_local_planner::SimpleCarModel::getWheelbase ( ) const

inline

Get wheelbase.

Definition at line 135 of file simple_car.h.

◆ setWheelbase()

void mpc_local_planner::SimpleCarModel::setWheelbase ( double wheelbase )

inline

Set wheelbase.

Definition at line 133 of file simple_car.h.

Member Data Documentation

◆ _wheelbase

double mpc_local_planner::SimpleCarModel::_wheelbase = 1.0

protected

Definition at line 138 of file simple_car.h.

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

simple_car.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimpleCarModel() [1/2]

◆ SimpleCarModel() [2/2]

Member Function Documentation

◆ dynamics()

◆ getInputDimension()

◆ getInstance()

◆ getTwistFromControl()

◆ getWheelbase()

◆ setWheelbase()

Member Data Documentation

◆ _wheelbase