Classes | Public Types | Public Member Functions | Protected Member Functions | Private Attributes
mvsim::DynamicsDifferential Class Reference

#include <VehicleDifferential.h>

Inheritance diagram for mvsim::DynamicsDifferential:
Inheritance graph
[legend]

List of all members.

Classes

class  ControllerRawForces
class  ControllerTwistPID
struct  TControllerInput
struct  TControllerOutput

Public Types

enum  { WHEEL_L = 0, WHEEL_R = 1 }

Public Member Functions

 DynamicsDifferential (World *parent)
virtual vec3 getVelocityLocalOdoEstimate () const

Protected Member Functions

virtual void dynamics_load_params_from_xml (const rapidxml::xml_node< char > *xml_node)
virtual void invoke_motor_controllers (const TSimulContext &context, std::vector< double > &out_force_per_wheel)

Private Attributes

ControllerBasePtr m_controller
 The installed controller.

Controllers

typedef ControllerBaseTempl
< DynamicsDifferential
ControllerBase
typedef std::shared_ptr
< ControllerBase
ControllerBasePtr
const ControllerBasePtrgetController () const
ControllerBasePtrgetController ()
virtual ControllerBaseInterfacegetControllerInterface ()

Detailed Description

Implementation of differential-driven vehicles.

See also:
class factory in VehicleBase::factory

Definition at line 22 of file VehicleDifferential.h.


Member Typedef Documentation

Virtual base for controllers of vehicles of type DynamicsDifferential

Definition at line 48 of file VehicleDifferential.h.

Definition at line 49 of file VehicleDifferential.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
WHEEL_L 
WHEEL_R 

Definition at line 26 of file VehicleDifferential.h.


Constructor & Destructor Documentation

Definition at line 22 of file VehicleDifferential.cpp.


Member Function Documentation

void DynamicsDifferential::dynamics_load_params_from_xml ( const rapidxml::xml_node< char > *  xml_node) [protected, virtual]

The derived-class part of load_params_from_xml()

Implements mvsim::VehicleBase.

Definition at line 47 of file VehicleDifferential.cpp.

Definition at line 107 of file VehicleDifferential.h.

Definition at line 108 of file VehicleDifferential.h.

Implements mvsim::VehicleBase.

Definition at line 109 of file VehicleDifferential.h.

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 149 of file VehicleDifferential.cpp.

void DynamicsDifferential::invoke_motor_controllers ( const TSimulContext context,
std::vector< double > &  out_force_per_wheel 
) [protected, virtual]

Implements mvsim::VehicleBase.

Definition at line 129 of file VehicleDifferential.cpp.


Member Data Documentation

The installed controller.

Definition at line 127 of file VehicleDifferential.h.


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


mvsim
Author(s):
autogenerated on Thu Jun 6 2019 22:08:35