#include <VehicleBase.h>

Inheritance diagram for mvsim::VehicleBase:

[legend]

Public Types
using	Ptr = std::shared_ptr< VehicleBase >

typedef std::vector< SensorBase::Ptr >	TListSensors

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Public Member Functions
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0)) override

void	clearLogs ()

virtual void	create_multibody_system (b2World &world)

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

virtual ControllerBaseInterface *	getControllerInterface ()=0

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

virtual mrpt::math::TTwist2D	getVelocityLocalOdoEstimate () const =0

const Wheel &	getWheelInfo (const size_t idx) const

Wheel &	getWheelInfo (const size_t idx)

void	getWheelsVelocityLocal (std::vector< mrpt::math::TPoint2D > &vels, const mrpt::math::TTwist2D &veh_vel_local) const

void	newLogSession ()

void	poses_mutex_lock () override

void	poses_mutex_unlock () override

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
void	getVisualModelBoundingBox (mrpt::math::TPoint3D &bbmin, mrpt::math::TPoint3D &bbmax) const

World *	getWorldObject ()

const World *	getWorldObject () const

virtual void	guiUpdate (mrpt::opengl::COpenGLScene &scene)

void	showBoundingBox (bool show)

	VisualObject (World *parent)

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...

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TTwist2D	getTwist () const

const mrpt::math::TTwist2D &	getVelocity () 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

Static Public Member Functions
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 Attributes
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"

Protected Member Functions
virtual void	dynamics_load_params_from_xml (const rapidxml::xml_node< char > *xml_node)=0

virtual void	initLoggers ()

virtual mrpt::poses::CPose3D	internalGuiGetVisualPose () override

virtual void	internalGuiUpdate (mrpt::opengl::COpenGLScene &scene, bool childrenOnly) override

virtual void	invoke_motor_controllers (const TSimulContext &context, std::vector< double > &out_force_per_wheel)=0

void	updateMaxRadiusFromPoly ()
	excludes the mass of wheels) More...

	VehicleBase (World *parent, size_t nWheels)

virtual void	writeLogStrings ()

Protected Member Functions inherited from mvsim::VisualObject
bool	parseVisual (const rapidxml::xml_node< char > *visual_node)

Protected Attributes
mrpt::img::TColor	m_chassis_color

mrpt::math::TPoint2D	m_chassis_com

double	m_chassis_mass

mrpt::math::TPolygon2D	m_chassis_poly

double	m_chassis_z_max

double	m_chassis_z_min
	each change via updateMaxRadiusFromPoly() More...

b2Fixture *	m_fixture_chassis
	Created at. More...

std::vector< b2Fixture * >	m_fixture_wheels

FrictionBasePtr	m_friction

std::string	m_log_path

std::map< std::string, std::shared_ptr< CSVLogger > >	m_loggers

double	m_max_radius

TListSensors	m_sensors
	Sensors aboard. More...

std::vector< double >	m_torque_per_wheel

size_t	m_vehicle_index

std::vector< Wheel >	m_wheels_info

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glBoundingBox

std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glCustomVisual

int32_t	m_glCustomVisualId = -1

World *	m_world

Protected Attributes inherited from mvsim::Simulable
std::string	m_name

Private Member Functions
void	internal_internalGuiUpdate_forces (mrpt::opengl::COpenGLScene &scene)

void	internal_internalGuiUpdate_sensors (mrpt::opengl::COpenGLScene &scene)

Private Attributes
std::vector< mrpt::math::TSegment3D >	m_force_segments_for_rendering

std::mutex	m_force_segments_for_rendering_cs

mrpt::opengl::CSetOfObjects::Ptr	m_gl_chassis

mrpt::opengl::CSetOfLines::Ptr	m_gl_forces

std::vector< mrpt::opengl::CSetOfObjects::Ptr >	m_gl_wheels

std::mutex	m_gui_mtx

Detailed Description

Virtual base class for each vehicle "actor" in the simulation. Derived classes implements different dynamical models (Differential, Ackermann,...)

Definition at line 41 of file VehicleBase.h.

Member Typedef Documentation

using mvsim::VehicleBase::Ptr = std::shared_ptr<VehicleBase>

Definition at line 44 of file VehicleBase.h.

typedef std::vector<SensorBase::Ptr> mvsim::VehicleBase::TListSensors

Definition at line 102 of file VehicleBase.h.

Constructor & Destructor Documentation

VehicleBase::VehicleBase	(	World *	parent,
		size_t	nWheels
	)

protected

Definition at line 78 of file VehicleBase.cpp.

Member Function Documentation

void VehicleBase::apply_force	(	const mrpt::math::TVector2D &	force,
		const mrpt::math::TPoint2D &	applyPoint = `mrpt::math::TPoint2D(0, 0)`
	)

overridevirtual

Override to register external forces exerted by other WorldElements. Force is (fx,fy) in global coordinates. Application point is (local_ptx,local_pty) in the body local frame

Reimplemented from mvsim::Simulable.

Definition at line 763 of file VehicleBase.cpp.

void mvsim::VehicleBase::clearLogs ( )

inline

Definition at line 126 of file VehicleBase.h.

void VehicleBase::create_multibody_system ( b2World & world )

virtual

Create bodies, fixtures, etc. for the dynamical simulation. May be overrided by derived classes

Create bodies, fixtures, etc. for the dynamical simulation

Definition at line 577 of file VehicleBase.cpp.

virtual void mvsim::VehicleBase::dynamics_load_params_from_xml ( const rapidxml::xml_node< char > * xml_node )

protectedpure virtual

Parse node <dynamics>: The derived-class part of load_params_from_xml(), also called in factory(). Includes parsing the <controller></controller> block.

Implemented in mvsim::DynamicsAckermannDrivetrain, mvsim::DynamicsAckermann, and mvsim::DynamicsDifferential.

VehicleBase::Ptr VehicleBase::factory	(	World *	parent,
		const rapidxml::xml_node< char > *	root
	)

static

Class factory: Creates a vehicle from XML description of type "<vehicle>...</vehicle>".

Definition at line 124 of file VehicleBase.cpp.

VehicleBase::Ptr VehicleBase::factory	(	World *	parent,
		const std::string &	xml_text
	)

static

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 339 of file VehicleBase.cpp.

b2Fixture* mvsim::VehicleBase::get_fixture_chassis ( )

inline

Definition at line 139 of file VehicleBase.h.

const b2Fixture* mvsim::VehicleBase::get_fixture_chassis ( ) const

inline

Definition at line 141 of file VehicleBase.h.

std::vector<b2Fixture*>& mvsim::VehicleBase::get_fixture_wheels ( )

inline

Definition at line 140 of file VehicleBase.h.

const std::vector<b2Fixture*>& mvsim::VehicleBase::get_fixture_wheels ( ) const

inline

Definition at line 142 of file VehicleBase.h.

b2Body* mvsim::VehicleBase::getBox2DChassisBody ( )

inline

Definition at line 77 of file VehicleBase.h.

mrpt::math::TPoint2D mvsim::VehicleBase::getChassisCenterOfMass ( ) const

inline

In local coordinates (this excludes the mass of wheels)

Definition at line 78 of file VehicleBase.h.

virtual double mvsim::VehicleBase::getChassisMass ( ) const

inlinevirtual

Get the overall vehicle mass, excluding wheels.

Definition at line 76 of file VehicleBase.h.

const mrpt::math::TPolygon2D& mvsim::VehicleBase::getChassisShape ( ) const

inline

Get the 2D shape of the vehicle chassis, as set from the config file (only used for collision detection)

Definition at line 113 of file VehicleBase.h.

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

pure virtual

Implemented in mvsim::DynamicsAckermannDrivetrain, mvsim::DynamicsAckermann, and mvsim::DynamicsDifferential.

std::shared_ptr<CSVLogger> mvsim::VehicleBase::getLoggerPtr ( std::string logger_name )

inline

Definition at line 106 of file VehicleBase.h.

virtual float mvsim::VehicleBase::getMaxVehicleRadius ( ) const

inlinevirtual

Get (an approximation of) the max radius of the vehicle, from its point of reference (in meters)

Definition at line 74 of file VehicleBase.h.

size_t mvsim::VehicleBase::getNumWheels ( ) const

inline

Definition at line 83 of file VehicleBase.h.

const TListSensors& mvsim::VehicleBase::getSensors ( ) const

inline

Definition at line 104 of file VehicleBase.h.

TListSensors& mvsim::VehicleBase::getSensors ( )

inline

Definition at line 105 of file VehicleBase.h.

size_t mvsim::VehicleBase::getVehicleIndex ( ) const

inline

Get the vehicle index in the World

Definition at line 121 of file VehicleBase.h.

virtual mrpt::math::TTwist2D mvsim::VehicleBase::getVelocityLocalOdoEstimate ( ) const

pure 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.

See also: getVelocityLocal()

Implemented in mvsim::DynamicsAckermannDrivetrain, mvsim::DynamicsAckermann, and mvsim::DynamicsDifferential.

const Wheel& mvsim::VehicleBase::getWheelInfo ( const size_t idx ) const

inline

Definition at line 84 of file VehicleBase.h.

Wheel& mvsim::VehicleBase::getWheelInfo ( const size_t idx )

inline

Definition at line 88 of file VehicleBase.h.

void VehicleBase::getWheelsVelocityLocal	(	std::vector< mrpt::math::TPoint2D > &	vels,
		const mrpt::math::TTwist2D &	veh_vel_local
	)		const

Current velocity of each wheel's center point (in local coords). Call with veh_vel_local=getVelocityLocal() for ground-truth.

Last time-step velocity of each wheel's center point (in local coords)

Definition at line 515 of file VehicleBase.cpp.

void VehicleBase::initLoggers ( )

protectedvirtual

Definition at line 714 of file VehicleBase.cpp.

void VehicleBase::internal_internalGuiUpdate_forces ( mrpt::opengl::COpenGLScene & scene )

private

Definition at line 548 of file VehicleBase.cpp.

void VehicleBase::internal_internalGuiUpdate_sensors ( mrpt::opengl::COpenGLScene & scene )

private

(depending on derived class). Size set at constructor.

Definition at line 542 of file VehicleBase.cpp.

mrpt::poses::CPose3D VehicleBase::internalGuiGetVisualPose ( )

overrideprotectedvirtual

Reimplemented from mvsim::VisualObject.

Definition at line 537 of file VehicleBase.cpp.

void VehicleBase::internalGuiUpdate	(	mrpt::opengl::COpenGLScene &	scene,
		bool	childrenOnly
	)

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 654 of file VehicleBase.cpp.

virtual void mvsim::VehicleBase::invoke_motor_controllers	(	const TSimulContext &	context,
		std::vector< double > &	out_force_per_wheel
	)

protectedpure virtual

Implemented in mvsim::DynamicsAckermannDrivetrain, mvsim::DynamicsAckermann, and mvsim::DynamicsDifferential.

void mvsim::VehicleBase::newLogSession ( )

inline

Definition at line 130 of file VehicleBase.h.

void mvsim::VehicleBase::poses_mutex_lock ( )

inlineoverridevirtual

Implements mvsim::Simulable.

Definition at line 57 of file VehicleBase.h.

void mvsim::VehicleBase::poses_mutex_unlock ( )

inlineoverridevirtual

Implements mvsim::Simulable.

Definition at line 58 of file VehicleBase.h.

void VehicleBase::register_vehicle_class ( const rapidxml::xml_node< char > * xml_node )

static

Register a new class of vehicles from XML description of type "<vehicle:class name='name'>...</vehicle:class>".

Definition at line 101 of file VehicleBase.cpp.

void VehicleBase::registerOnServer ( mvsim::Client & c )

overridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 772 of file VehicleBase.cpp.

void mvsim::VehicleBase::setRecording ( bool record )

inline

Definition at line 122 of file VehicleBase.h.

void mvsim::VehicleBase::setVehicleIndex ( size_t idx )

inline

Set the vehicle index in the World

Definition at line 119 of file VehicleBase.h.

void VehicleBase::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep

Reimplemented from mvsim::Simulable.

Definition at line 468 of file VehicleBase.cpp.

void VehicleBase::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Definition at line 363 of file VehicleBase.cpp.

void VehicleBase::updateMaxRadiusFromPoly ( )

protected

excludes the mass of wheels)

Definition at line 564 of file VehicleBase.cpp.

void VehicleBase::writeLogStrings ( )

protectedvirtual

Definition at line 754 of file VehicleBase.cpp.

Member Data Documentation

constexpr char VehicleBase::DL_TIMESTAMP = "timestamp"

static

Definition at line 223 of file VehicleBase.h.

constexpr char VehicleBase::LOGGER_POSE = "logger_pose"

static

Definition at line 224 of file VehicleBase.h.

constexpr char VehicleBase::LOGGER_WHEEL = "logger_wheel"

static

Definition at line 225 of file VehicleBase.h.

mrpt::img::TColor mvsim::VehicleBase::m_chassis_color

protected

Definition at line 189 of file VehicleBase.h.

mrpt::math::TPoint2D mvsim::VehicleBase::m_chassis_com

protected

In local coordinates (this

Definition at line 191 of file VehicleBase.h.

double mvsim::VehicleBase::m_chassis_mass

protected

Definition at line 184 of file VehicleBase.h.

mrpt::math::TPolygon2D mvsim::VehicleBase::m_chassis_poly

protected

Definition at line 185 of file VehicleBase.h.

double mvsim::VehicleBase::m_chassis_z_max

protected

Definition at line 188 of file VehicleBase.h.

double mvsim::VehicleBase::m_chassis_z_min

protected

each change via updateMaxRadiusFromPoly()

Definition at line 188 of file VehicleBase.h.

b2Fixture* mvsim::VehicleBase::m_fixture_chassis

protected

Created at.

upon construction. Derived classes must define the order of the wheels, e.g. [0]=rear left, etc.

Definition at line 203 of file VehicleBase.h.

std::vector<b2Fixture*> mvsim::VehicleBase::m_fixture_wheels

protected

[0]:rear-left, etc.

Definition at line 204 of file VehicleBase.h.

std::vector<mrpt::math::TSegment3D> mvsim::VehicleBase::m_force_segments_for_rendering

private

Definition at line 218 of file VehicleBase.h.

std::mutex mvsim::VehicleBase::m_force_segments_for_rendering_cs

private

Definition at line 217 of file VehicleBase.h.

FrictionBasePtr mvsim::VehicleBase::m_friction

protected

Instance of friction model for the vehicle-to-ground interaction.

Definition at line 176 of file VehicleBase.h.

mrpt::opengl::CSetOfObjects::Ptr mvsim::VehicleBase::m_gl_chassis

private

Definition at line 214 of file VehicleBase.h.

mrpt::opengl::CSetOfLines::Ptr mvsim::VehicleBase::m_gl_forces

private

Definition at line 216 of file VehicleBase.h.

std::vector<mrpt::opengl::CSetOfObjects::Ptr> mvsim::VehicleBase::m_gl_wheels

private

Definition at line 215 of file VehicleBase.h.

std::mutex mvsim::VehicleBase::m_gui_mtx

private

Definition at line 220 of file VehicleBase.h.

std::string mvsim::VehicleBase::m_log_path

protected

Definition at line 149 of file VehicleBase.h.

std::map<std::string, std::shared_ptr<CSVLogger> > mvsim::VehicleBase::m_loggers

protected

Definition at line 148 of file VehicleBase.h.

double mvsim::VehicleBase::m_max_radius

protected

Automatically computed from m_chassis_poly upon

Definition at line 186 of file VehicleBase.h.

TListSensors mvsim::VehicleBase::m_sensors

protected

Sensors aboard.

Definition at line 178 of file VehicleBase.h.

std::vector<double> mvsim::VehicleBase::m_torque_per_wheel

protected

Updated in simul_pre_timestep()

Definition at line 181 of file VehicleBase.h.

size_t mvsim::VehicleBase::m_vehicle_index

protected

user-supplied index number: must be set/get'ed with setVehicleIndex() getVehicleIndex() (default=0)

Definition at line 173 of file VehicleBase.h.

std::vector<Wheel> mvsim::VehicleBase::m_wheels_info

protected

The fixed size of this vector is set

Definition at line 197 of file VehicleBase.h.

constexpr char VehicleBase::PL_DQ_X = "dQx"

static

Definition at line 233 of file VehicleBase.h.

constexpr char VehicleBase::PL_DQ_Y = "dQy"

static

Definition at line 234 of file VehicleBase.h.

constexpr char VehicleBase::PL_DQ_Z = "dQz"

static

Definition at line 235 of file VehicleBase.h.

constexpr char VehicleBase::PL_Q_PITCH = "Qpitch"

static

Definition at line 231 of file VehicleBase.h.

constexpr char VehicleBase::PL_Q_ROLL = "Qroll"

static

Definition at line 232 of file VehicleBase.h.

constexpr char VehicleBase::PL_Q_X = "Qx"

static

Definition at line 227 of file VehicleBase.h.

constexpr char VehicleBase::PL_Q_Y = "Qy"

static

Definition at line 228 of file VehicleBase.h.

constexpr char VehicleBase::PL_Q_YAW = "Qyaw"

static

Definition at line 230 of file VehicleBase.h.

constexpr char VehicleBase::PL_Q_Z = "Qz"

static

Definition at line 229 of file VehicleBase.h.

constexpr char VehicleBase::WL_FRIC_X = "friction_x"

static

Definition at line 241 of file VehicleBase.h.

constexpr char VehicleBase::WL_FRIC_Y = "friction_y"

static

Definition at line 242 of file VehicleBase.h.

constexpr char VehicleBase::WL_TORQUE = "torque"

static

Definition at line 237 of file VehicleBase.h.

constexpr char VehicleBase::WL_VEL_X = "velocity_x"

static

Definition at line 239 of file VehicleBase.h.

constexpr char VehicleBase::WL_VEL_Y = "velocity_y"

static

Definition at line 240 of file VehicleBase.h.

constexpr char VehicleBase::WL_WEIGHT = "weight"

static

Definition at line 238 of file VehicleBase.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation