#include <VehicleDifferential.h>
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 ControllerBasePtr & | getController () const |
ControllerBasePtr & | getController () |
virtual ControllerBaseInterface * | getControllerInterface () |
Implementation of differential-driven vehicles.
Definition at line 22 of file VehicleDifferential.h.
Virtual base for controllers of vehicles of type DynamicsDifferential
Definition at line 48 of file VehicleDifferential.h.
typedef std::shared_ptr<ControllerBase> mvsim::DynamicsDifferential::ControllerBasePtr |
Definition at line 49 of file VehicleDifferential.h.
anonymous enum |
Definition at line 26 of file VehicleDifferential.h.
DynamicsDifferential::DynamicsDifferential | ( | World * | parent | ) |
Definition at line 22 of file VehicleDifferential.cpp.
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.
const ControllerBasePtr& mvsim::DynamicsDifferential::getController | ( | ) | const [inline] |
Definition at line 107 of file VehicleDifferential.h.
ControllerBasePtr& mvsim::DynamicsDifferential::getController | ( | ) | [inline] |
Definition at line 108 of file VehicleDifferential.h.
virtual ControllerBaseInterface* mvsim::DynamicsDifferential::getControllerInterface | ( | ) | [inline, virtual] |
Implements mvsim::VehicleBase.
Definition at line 109 of file VehicleDifferential.h.
vec3 DynamicsDifferential::getVelocityLocalOdoEstimate | ( | ) | const [virtual] |
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.
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.
The installed controller.
Definition at line 127 of file VehicleDifferential.h.