#include <VehicleDifferential.h>

Inheritance diagram for mvsim::DynamicsDifferential:

[legend]

Classes
struct	ConfigPerWheel

class	ControllerRawForces

class	ControllerTwistIdeal

class	ControllerTwistPID

struct	TControllerInput

struct	TControllerOutput

Public Types
enum	{ WHEEL_L = 0, WHEEL_R = 1, WHEEL_CASTER_FRONT = 2, WHEEL_LR = 0, WHEEL_RR = 1, WHEEL_LF = 2, WHEEL_RF = 3 }

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

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

Public Member Functions
	DynamicsDifferential (World *parent)

	DynamicsDifferential (World *parent, const std::vector< ConfigPerWheel > &cfgPerWheel)

virtual mrpt::math::TTwist2D	getVelocityLocalOdoEstimate () const override

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

void	chassisAndWheelsVisible (bool visible)

double	chassisZMax () const

double	chassisZMin () const

void	clearLogs ()

virtual void	create_multibody_system (b2World &world)

void	freeOpenGLResources () override

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 ()

virtual double	getChassisMass () const

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

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

virtual float	getMaxVehicleRadius () const

size_t	getNumWheels () const

TListSensors &	getSensors ()

const TListSensors &	getSensors () const

size_t	getVehicleIndex () const

Wheel &	getWheelInfo (const size_t idx)

const Wheel &	getWheelInfo (const size_t idx) const

std::vector< mrpt::math::TVector2D >	getWheelsVelocityLocal (const mrpt::math::TTwist2D &veh_vel_local) const

bool	isLogging () const

void	newLogSession ()

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
const std::optional< Shape2p5 > &	collisionShape () const

bool	customVisualVisible () const

void	customVisualVisible (const bool visible)

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
b2Body *	b2d_body ()

const b2Body *	b2d_body () const

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...

virtual std::optional< float >	getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const

mrpt::math::TVector3D	getLinearAcceleration () const

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only. More...

virtual mrpt::math::TPose3D	getRelativePose () const

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

mrpt::math::TTwist2D	getTwist () 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, bool notifyChange=true) const

virtual void	setRelativePose (const mrpt::math::TPose3D &p)

void	setTwist (const mrpt::math::TTwist2D &dq) const

	Simulable (World *parent)

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

virtual std::vector< double >	invoke_motor_controllers (const TSimulContext &context) override

virtual void	invoke_motor_controllers_post_step (const TSimulContext &context) override

Protected Member Functions inherited from mvsim::VehicleBase
virtual void	initLoggers ()

virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

virtual void	invoke_motor_controllers_post_step ([[maybe_unused]] const TSimulContext &context)

VisualObject *	meAsVisualObject () override

void	updateMaxRadiusFromPoly ()

	VehicleBase (World *parent, size_t nWheels)

virtual void	writeLogStrings ()

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

bool	parseVisual (const JointXMLnode<> &rootNode)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
const std::vector< ConfigPerWheel >	configPerWheel_
	Defined at ctor time: More...

Protected Attributes inherited from mvsim::VehicleBase
mrpt::img::TColor	chassis_color_ {0xff, 0x00, 0x00}

mrpt::math::TPoint2D	chassis_com_ {0, 0}

double	chassis_mass_ = 15.0

mrpt::math::TPolygon2D	chassis_poly_

double	chassis_z_max_ = 0.6

double	chassis_z_min_ = 0.05

b2Fixture *	fixture_chassis_
	Created at. More...

std::vector< b2Fixture * >	fixture_wheels_

FrictionBasePtr	friction_

std::string	log_path_

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

double	maxRadius_ = 0.1

TListSensors	sensors_
	Sensors aboard. More...

size_t	vehicle_index_ = 0

std::deque< Wheel >	wheels_info_

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

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

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

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

Private Attributes
ControllerBase::Ptr	controller_
	The installed controller. More...

Controllers
using	ControllerBase = ControllerBaseTempl< DynamicsDifferential >

const ControllerBase::Ptr &	getController () const

ControllerBase::Ptr &	getController ()

virtual ControllerBaseInterface *	getControllerInterface () override

Additional Inherited Members
Static Public Member Functions inherited from mvsim::VehicleBase
static Ptr	factory (World parent, const rapidxml::xml_node< char > xml_node)

static Ptr	factory (World *parent, const std::string &xml_text)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

static void	register_vehicle_class (const World &parent, const rapidxml::xml_node< char > *xml_node)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VehicleBase
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 [] = "q4pitch"

static constexpr char	PL_Q_ROLL [] = "q5roll"

static constexpr char	PL_Q_X [] = "q0x"

static constexpr char	PL_Q_Y [] = "q1y"

static constexpr char	PL_Q_YAW [] = "q3yaw"

static constexpr char	PL_Q_Z [] = "q2z"

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"

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Detailed Description

Implementation of differential-driven vehicles with only two wheels. Simplified model for pure planar scenarios only, do not use with ramps. For that, use Differential or Ackermann models with 3 or 4 wheels.

See also: class factory in VehicleBase::factory

Definition at line 30 of file VehicleDifferential.h.

Member Typedef Documentation

◆ ControllerBase

using mvsim::DynamicsDifferential::ControllerBase = ControllerBaseTempl<DynamicsDifferential>

Virtual base for controllers of vehicles of type DynamicsDifferential

Definition at line 88 of file VehicleDifferential.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
WHEEL_L
WHEEL_R
WHEEL_CASTER_FRONT
WHEEL_LR
WHEEL_RR
WHEEL_LF
WHEEL_RF

Definition at line 34 of file VehicleDifferential.h.

Constructor & Destructor Documentation

◆ DynamicsDifferential() [1/2]

mvsim::DynamicsDifferential::DynamicsDifferential ( World * parent )

inline

Definition at line 60 of file VehicleDifferential.h.

◆ DynamicsDifferential() [2/2]

DynamicsDifferential::DynamicsDifferential	(	World *	parent,
		const std::vector< ConfigPerWheel > &	cfgPerWheel
	)

Definition at line 22 of file VehicleDifferential.cpp.

Member Function Documentation

◆ dynamics_load_params_from_xml()

void DynamicsDifferential::dynamics_load_params_from_xml ( const rapidxml::xml_node< char > * xml_node )

overrideprotectedvirtual

The derived-class part of load_params_from_xml()

Implements mvsim::VehicleBase.

Definition at line 48 of file VehicleDifferential.cpp.

◆ getController() [1/2]

ControllerBase::Ptr& mvsim::DynamicsDifferential::getController ( )

inline

Definition at line 202 of file VehicleDifferential.h.

◆ getController() [2/2]

const ControllerBase::Ptr& mvsim::DynamicsDifferential::getController ( ) const

inline

Definition at line 201 of file VehicleDifferential.h.

◆ getControllerInterface()

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

inlineoverridevirtual

Implements mvsim::VehicleBase.

Definition at line 203 of file VehicleDifferential.h.

◆ getVelocityLocalOdoEstimate()

mrpt::math::TTwist2D DynamicsDifferential::getVelocityLocalOdoEstimate ( ) const

overridevirtual

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 173 of file VehicleDifferential.cpp.

◆ invoke_motor_controllers()

std::vector< double > DynamicsDifferential::invoke_motor_controllers ( const TSimulContext & context )

overrideprotectedvirtual

Implements mvsim::VehicleBase.

Definition at line 128 of file VehicleDifferential.cpp.

◆ invoke_motor_controllers_post_step()

void DynamicsDifferential::invoke_motor_controllers_post_step ( const TSimulContext & context )

overrideprotectedvirtual

Definition at line 167 of file VehicleDifferential.cpp.

Member Data Documentation

◆ configPerWheel_

const std::vector<ConfigPerWheel> mvsim::DynamicsDifferential::configPerWheel_

protected

Defined at ctor time:

Definition at line 217 of file VehicleDifferential.h.

◆ controller_

ControllerBase::Ptr mvsim::DynamicsDifferential::controller_

private

The installed controller.

Definition at line 220 of file VehicleDifferential.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Controllers

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ControllerBase

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ DynamicsDifferential() [1/2]

◆ DynamicsDifferential() [2/2]

Member Function Documentation

◆ dynamics_load_params_from_xml()

◆ getController() [1/2]

◆ getController() [2/2]

◆ getControllerInterface()

◆ getVelocityLocalOdoEstimate()

◆ invoke_motor_controllers()

◆ invoke_motor_controllers_post_step()

Member Data Documentation

◆ configPerWheel_

◆ controller_