VehicleDifferential.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under GNU General Public License version 3                  |
  |   See <http://www.gnu.org/licenses/>                                    |
  +-------------------------------------------------------------------------+ */

#include <mvsim/VehicleDynamics/VehicleDifferential.h>
#include <mvsim/World.h>

#include "xml_utils.h"

#include <mrpt/opengl/COpenGLScene.h>
#include <rapidxml.hpp>

using namespace mvsim;
using namespace std;

// Ctor:
DynamicsDifferential::DynamicsDifferential(World* parent)
        : VehicleBase(parent, 2 /*num wheels*/)
{
        using namespace mrpt::math;

        m_chassis_mass = 15.0;
        m_chassis_z_min = 0.05;
        m_chassis_z_max = 0.6;
        m_chassis_color = TColor(0xff, 0x00, 0x00);

        // Default shape:
        m_chassis_poly.clear();
        m_chassis_poly.push_back(TPoint2D(-0.4, -0.5));
        m_chassis_poly.push_back(TPoint2D(-0.4, 0.5));
        m_chassis_poly.push_back(TPoint2D(0.4, 0.5));
        m_chassis_poly.push_back(TPoint2D(0.6, 0.3));
        m_chassis_poly.push_back(TPoint2D(0.6, -0.3));
        m_chassis_poly.push_back(TPoint2D(0.4, -0.5));
        updateMaxRadiusFromPoly();

        m_fixture_chassis = NULL;
        for (int i = 0; i < 2; i++) m_fixture_wheels[i] = NULL;
}

void DynamicsDifferential::dynamics_load_params_from_xml(
        const rapidxml::xml_node<char>* xml_node)
{
        // <chassis ...> </chassis>
        const rapidxml::xml_node<char>* xml_chassis =
                xml_node->first_node("chassis");
        if (xml_chassis)
        {
                // Attribs:
                std::map<std::string, TParamEntry> attribs;
                attribs["mass"] = TParamEntry("%lf", &this->m_chassis_mass);
                attribs["zmin"] = TParamEntry("%lf", &this->m_chassis_z_min);
                attribs["zmax"] = TParamEntry("%lf", &this->m_chassis_z_max);
                attribs["color"] = TParamEntry("%color", &this->m_chassis_color);

                parse_xmlnode_attribs(
                        *xml_chassis, attribs,
                        "[DynamicsDifferential::dynamics_load_params_from_xml]");

                // Shape node (optional, fallback to default shape if none found)
                const rapidxml::xml_node<char>* xml_shape =
                        xml_chassis->first_node("shape");
                if (xml_shape)
                        mvsim::parse_xmlnode_shape(
                                *xml_shape, m_chassis_poly,
                                "[DynamicsDifferential::dynamics_load_params_from_xml]");
        }

        // <l_wheel ...>, <r_wheel ...>
        const char* w_names[2] = {"l_wheel", "r_wheel"};
        const double w_default_y[2] = {0.5, -0.5};
        // Load common params:
        for (size_t i = 0; i < 2; i++)
        {
                const rapidxml::xml_node<char>* xml_wheel =
                        xml_node->first_node(w_names[i]);
                if (xml_wheel)
                        m_wheels_info[i].loadFromXML(xml_wheel);
                else
                {
                        m_wheels_info[i] = Wheel();
                        m_wheels_info[i].y = w_default_y[i];
                }
        }

        // Vehicle controller:
        // -------------------------------------------------
        {
                const rapidxml::xml_node<char>* xml_control =
                        xml_node->first_node("controller");
                if (xml_control)
                {
                        rapidxml::xml_attribute<char>* control_class =
                                xml_control->first_attribute("class");
                        if (!control_class || !control_class->value())
                                throw runtime_error(
                                        "[DynamicsDifferential] Missing 'class' attribute in "
                                        "<controller> XML node");

                        const std::string sCtrlClass = std::string(control_class->value());
                        if (sCtrlClass == ControllerRawForces::class_name())
                                m_controller =
                                        ControllerBasePtr(new ControllerRawForces(*this));
                        else if (sCtrlClass == ControllerTwistPID::class_name())
                                m_controller = ControllerBasePtr(new ControllerTwistPID(*this));
                        else
                                throw runtime_error(
                                        mrpt::format(
                                                "[DynamicsDifferential] Unknown 'class'='%s' in "
                                                "<controller> XML node",
                                                sCtrlClass.c_str()));

                        m_controller->load_config(*xml_control);
                }
        }

        // Default controller:
        if (!m_controller)
                m_controller = ControllerBasePtr(new ControllerRawForces(*this));
}

// See docs in base class:
void DynamicsDifferential::invoke_motor_controllers(
        const TSimulContext& context, std::vector<double>& out_torque_per_wheel)
{
        // Longitudinal forces at each wheel:
        out_torque_per_wheel.assign(2, 0.0);

        if (m_controller)
        {
                // Invoke controller:
                TControllerInput ci;
                ci.context = context;
                TControllerOutput co;
                m_controller->control_step(ci, co);
                // Take its output:
                out_torque_per_wheel[WHEEL_L] = co.wheel_torque_l;
                out_torque_per_wheel[WHEEL_R] = co.wheel_torque_r;
        }
}

// See docs in base class:
vec3 DynamicsDifferential::getVelocityLocalOdoEstimate() const
{
        vec3 odo_vel;
        // Equations:

        // Velocities in local +X at each wheel i={0,1}:
        // v_i = vx - w_veh * wheel_{i,y}  =  w_i * R_i
        // Re-arranging:
        const double w0 = m_wheels_info[WHEEL_L].getW();
        const double w1 = m_wheels_info[WHEEL_R].getW();
        const double R0 = m_wheels_info[WHEEL_L].diameter * 0.5;
        const double R1 = m_wheels_info[WHEEL_R].diameter * 0.5;

        const double Ay = m_wheels_info[WHEEL_L].y - m_wheels_info[WHEEL_R].y;
        ASSERTMSG_(
                Ay != 0.0,
                "The two wheels of a differential vehicle CAN'T by at the same Y "
            "coordinate!");

        const double w_veh = (w1 * R1 - w0 * R0) / Ay;
        const double vx_veh = w0 * R0 + w_veh * m_wheels_info[WHEEL_L].y;

        odo_vel.vals[0] = vx_veh;
        odo_vel.vals[2] = w_veh;

        // v_y = 0
        odo_vel.vals[1] = 0.0;

#if 0  // Debug
        {
                vec3 gt_vel = this->getVelocityLocal();
                printf("\n gt: vx=%7.03f, vy=%7.03f, w= %7.03fdeg\n", gt_vel.vals[0], gt_vel.vals[1], mrpt::utils::RAD2DEG(gt_vel.vals[2]));
                printf("odo: vx=%7.03f, vy=%7.03f, w= %7.03fdeg\n", odo_vel.vals[0], odo_vel.vals[1], mrpt::utils::RAD2DEG(odo_vel.vals[2]));
        }
#endif
        return odo_vel;
}