#include <VehicleBase.h>

Inheritance diagram for mvsim::VehicleBase:

[legend]

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

Public Member Functions
virtual void	apply_force (double fx, double fy, double local_ptx=0.0, double local_pty=0.0)

void	clearLogs ()

virtual void	create_multibody_system (b2World *world)

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

mrpt::poses::CPose2D	getCPose2D () const

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

virtual float	getMaxVehicleRadius () const

const std::string &	getName () const

size_t	getNumWheels () const

const mrpt::math::TPose3D &	getPose () const

const TListSensors &	getSensors () const

TListSensors &	getSensors ()

size_t	getVehicleIndex () const

const vec3 &	getVelocity () const

vec3	getVelocityLocal () const

virtual vec3	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 vec3 &veh_vel_local) const

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

void	newLogSession ()

void	setPose (const mrpt::math::TPose3D &p) const

void	setRecording (bool record)

void	setVehicleIndex (size_t idx)

virtual void	simul_post_timestep (const TSimulContext &context)

void	simul_post_timestep_common (const TSimulContext &context)

virtual void	simul_pre_timestep (const TSimulContext &context)

Public Member Functions inherited from mvsim::VisualObject
World *	getWorldObject ()

const World *	getWorldObject () const

	VisualObject (World *parent)

virtual	~VisualObject ()

Static Public Member Functions
static VehicleBase *	factory (World parent, const rapidxml::xml_node< char > xml_node)

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

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

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

void	gui_update_common (mrpt::opengl::COpenGLScene &scene, bool defaultVehicleBody=true)

virtual void	initLoggers ()

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

	VehicleBase (World *parent, size_t nWheels)

virtual void	writeLogStrings ()

Protected Attributes
std::string	m_log_path

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

std::string	m_name
	User-supplied name of the vehicle (e.g. "r1", "veh1") More...

size_t	m_vehicle_index

Protected Attributes inherited from mvsim::VisualObject
World *	m_world

Detailed Description

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

Definition at line 50 of file VehicleBase.h.

Member Typedef Documentation

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

Definition at line 129 of file VehicleBase.h.

Constructor & Destructor Documentation

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

protected

Definition at line 77 of file VehicleBase.cpp.

Member Function Documentation

void VehicleBase::apply_force	(	double	fx,
		double	fy,
		double	local_ptx = `0.0`,
		double	local_pty = `0.0`
	)

virtual

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 766 of file VehicleBase.cpp.

void mvsim::VehicleBase::clearLogs ( )

inline

Definition at line 155 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 635 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 * 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 150 of file VehicleBase.cpp.

VehicleBase * 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 336 of file VehicleBase.cpp.

b2Body* mvsim::VehicleBase::getBox2DChassisBody ( )

inline

Definition at line 86 of file VehicleBase.h.

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

inline

In local coordinates (this excludes the mass of wheels)

Definition at line 87 of file VehicleBase.h.

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

inlinevirtual

Get the overall vehicle mass, excluding wheels.

Definition at line 85 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 142 of file VehicleBase.h.

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

pure virtual

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

mrpt::poses::CPose2D VehicleBase::getCPose2D ( ) const

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 536 of file VehicleBase.cpp.

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

inline

Definition at line 133 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 83 of file VehicleBase.h.

const std::string& mvsim::VehicleBase::getName ( ) const

inline

User-supplied name of the vehicle (e.g. "r1", "veh1")

Definition at line 139 of file VehicleBase.h.

size_t mvsim::VehicleBase::getNumWheels ( ) const

inline

Definition at line 92 of file VehicleBase.h.

const mrpt::math::TPose3D& mvsim::VehicleBase::getPose ( ) const

inline

Last time-step pose (of the ref. point, in global coords) (ground-truth)

Definition at line 98 of file VehicleBase.h.

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

inline

Definition at line 131 of file VehicleBase.h.

TListSensors& mvsim::VehicleBase::getSensors ( )

inline

Definition at line 132 of file VehicleBase.h.

size_t mvsim::VehicleBase::getVehicleIndex ( ) const

inline

Get the vehicle index in the World

Definition at line 150 of file VehicleBase.h.

const vec3& mvsim::VehicleBase::getVelocity ( ) const

inline

Last time-step velocity (of the ref. point, in global coords) (ground-truth)

Definition at line 112 of file VehicleBase.h.

vec3 VehicleBase::getVelocityLocal ( ) const

Last time-step velocity (of the ref. point, in local coords) (ground-truth)

See also: getVelocityLocalOdoEstimate()

Last time-step velocity (of the ref. point, in local coords)

Definition at line 525 of file VehicleBase.cpp.

virtual vec3 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 93 of file VehicleBase.h.

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

inline

Definition at line 97 of file VehicleBase.h.

void VehicleBase::getWheelsVelocityLocal	(	std::vector< mrpt::math::TPoint2D > &	vels,
		const vec3 &	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 503 of file VehicleBase.cpp.

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

virtual

Must create a new object in the scene and/or update it according to the current state. If overrided in derived classes, it may be time-saving to call gui_update_common() and associated methods for 3D elements common to any vehicle.

Implements mvsim::VisualObject.

Definition at line 712 of file VehicleBase.cpp.

void VehicleBase::gui_update_common	(	mrpt::opengl::COpenGLScene &	scene,
		bool	defaultVehicleBody = `true`
	)

protected

To be called at derived classes' gui_update(), updates all stuff common to any vehicle type. Calls: internal_gui_update_sensors(), internal_gui_update_forces()

Parameters

[in] defaultVehicleBody If true, will draw default wheels & vehicle chassis.

To be called at derived classes' gui_update()

Definition at line 542 of file VehicleBase.cpp.

void VehicleBase::initLoggers ( )

protectedvirtual

Definition at line 717 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 159 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 126 of file VehicleBase.cpp.

void mvsim::VehicleBase::setPose ( const mrpt::math::TPose3D & p ) const

inline

Manually override vehicle pose (Use with caution!) (purposely set as "const")

Definition at line 103 of file VehicleBase.h.

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

inline

Definition at line 151 of file VehicleBase.h.

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

inline

Set the vehicle index in the World

Definition at line 148 of file VehicleBase.h.

void VehicleBase::simul_post_timestep ( const TSimulContext & context )

virtual

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

Reimplemented from mvsim::Simulable.

Definition at line 463 of file VehicleBase.cpp.

void VehicleBase::simul_post_timestep_common ( const TSimulContext & context )

Gets the body dynamical state into q, dot{q}

Definition at line 102 of file VehicleBase.cpp.

void VehicleBase::simul_pre_timestep ( const TSimulContext & context )

virtual

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 360 of file VehicleBase.cpp.

void VehicleBase::writeLogStrings ( )

protectedvirtual

Definition at line 757 of file VehicleBase.cpp.

Member Data Documentation

std::string mvsim::VehicleBase::m_log_path

protected

Definition at line 176 of file VehicleBase.h.

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

protected

Definition at line 175 of file VehicleBase.h.

std::string mvsim::VehicleBase::m_name

protected

User-supplied name of the vehicle (e.g. "r1", "veh1")

Definition at line 205 of file VehicleBase.h.

size_t mvsim::VehicleBase::m_vehicle_index

protected

user-supplied index number: must be set/get'ed

Definition at line 206 of file VehicleBase.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation