#include <VehicleBase.h>

Inheritance diagram for mvsim::VehicleBase:

[legend]

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

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	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

virtual ControllerBaseInterface *	getControllerInterface ()=0

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

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

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)

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)
	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
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

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

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 std::vector< double >	invoke_motor_controllers (const TSimulContext &context)=0

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

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

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

std::mutex	forceSegmentsForRenderingMtx_

mrpt::opengl::CSetOfObjects::Ptr	glChassisPhysical_

mrpt::opengl::CSetOfObjects::Ptr	glChassisViz_

mrpt::opengl::CSetOfLines::Ptr	glForces_

std::atomic_bool	glInit_ = false

mrpt::opengl::CSetOfLines::Ptr	glMotorTorques_

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

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

std::vector< mrpt::math::TSegment3D >	torqueSegmentsForRendering_

Detailed Description

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

Definition at line 44 of file VehicleBase.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 47 of file VehicleBase.h.

Constructor & Destructor Documentation

◆ VehicleBase()

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

protected

Definition at line 78 of file VehicleBase.cpp.

Member Function Documentation

◆ apply_force()

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 802 of file VehicleBase.cpp.

◆ chassisAndWheelsVisible()

void VehicleBase::chassisAndWheelsVisible ( bool visible )

Definition at line 818 of file VehicleBase.cpp.

◆ chassisZMax()

double mvsim::VehicleBase::chassisZMax ( ) const

inline

Definition at line 141 of file VehicleBase.h.

◆ chassisZMin()

double mvsim::VehicleBase::chassisZMin ( ) const

inline

Definition at line 140 of file VehicleBase.h.

◆ clearLogs()

void mvsim::VehicleBase::clearLogs ( )

inline

Definition at line 116 of file VehicleBase.h.

◆ create_multibody_system()

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 590 of file VehicleBase.cpp.

◆ dynamics_load_params_from_xml()

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

◆ factory() [1/2]

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 118 of file VehicleBase.cpp.

◆ factory() [2/2]

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 338 of file VehicleBase.cpp.

◆ freeOpenGLResources()

void mvsim::VehicleBase::freeOpenGLResources ( )

inlineoverridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 134 of file VehicleBase.h.

◆ get_fixture_chassis() [1/2]

b2Fixture* mvsim::VehicleBase::get_fixture_chassis ( )

inline

Definition at line 129 of file VehicleBase.h.

◆ get_fixture_chassis() [2/2]

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

inline

Definition at line 131 of file VehicleBase.h.

◆ get_fixture_wheels() [1/2]

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

inline

Definition at line 130 of file VehicleBase.h.

◆ get_fixture_wheels() [2/2]

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

inline

Definition at line 132 of file VehicleBase.h.

◆ getBox2DChassisBody()

b2Body* mvsim::VehicleBase::getBox2DChassisBody ( )

inline

Definition at line 76 of file VehicleBase.h.

◆ getChassisMass()

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

inlinevirtual

Get the overall vehicle mass, excluding wheels.

Definition at line 75 of file VehicleBase.h.

◆ getChassisShape()

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 106 of file VehicleBase.h.

◆ getControllerInterface()

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

pure virtual

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

◆ getLoggerPtr()

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

inline

Definition at line 99 of file VehicleBase.h.

◆ getMaxVehicleRadius()

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 73 of file VehicleBase.h.

◆ getNumWheels()

size_t mvsim::VehicleBase::getNumWheels ( ) const

inline

Definition at line 82 of file VehicleBase.h.

◆ getSensors() [1/2]

TListSensors& mvsim::VehicleBase::getSensors ( )

inline

Definition at line 98 of file VehicleBase.h.

◆ getSensors() [2/2]

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

inline

Definition at line 97 of file VehicleBase.h.

◆ getVehicleIndex()

size_t mvsim::VehicleBase::getVehicleIndex ( ) const

inline

Get the vehicle index in the World

Definition at line 111 of file VehicleBase.h.

◆ getVelocityLocalOdoEstimate()

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

◆ getWheelInfo() [1/2]

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

inline

Definition at line 84 of file VehicleBase.h.

◆ getWheelInfo() [2/2]

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

inline

Definition at line 83 of file VehicleBase.h.

◆ getWheelsVelocityLocal()

std::vector< mrpt::math::TVector2D > VehicleBase::getWheelsVelocityLocal ( 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 518 of file VehicleBase.cpp.

◆ initLoggers()

void VehicleBase::initLoggers ( )

protectedvirtual

Definition at line 780 of file VehicleBase.cpp.

◆ internal_internalGuiUpdate_forces()

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

private

Definition at line 548 of file VehicleBase.cpp.

◆ internal_internalGuiUpdate_sensors()

void VehicleBase::internal_internalGuiUpdate_sensors	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical
	)

private

Definition at line 541 of file VehicleBase.cpp.

◆ internalGuiUpdate()

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

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 666 of file VehicleBase.cpp.

◆ invoke_motor_controllers()

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

protectedpure virtual

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

◆ invoke_motor_controllers_post_step()

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

inlineprotectedvirtual

Definition at line 164 of file VehicleBase.h.

◆ isLogging()

bool mvsim::VehicleBase::isLogging ( ) const

Definition at line 569 of file VehicleBase.cpp.

◆ meAsVisualObject()

VisualObject* mvsim::VehicleBase::meAsVisualObject ( )

inlineoverrideprotectedvirtual

Reimplemented from mvsim::Simulable.

Definition at line 168 of file VehicleBase.h.

◆ newLogSession()

void mvsim::VehicleBase::newLogSession ( )

inline

Definition at line 120 of file VehicleBase.h.

◆ register_vehicle_class()

void VehicleBase::register_vehicle_class	(	const World &	parent,
		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 96 of file VehicleBase.cpp.

◆ registerOnServer()

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

overridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 811 of file VehicleBase.cpp.

◆ setRecording()

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

inline

Definition at line 112 of file VehicleBase.h.

◆ setVehicleIndex()

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

inline

Set the vehicle index in the World

Definition at line 109 of file VehicleBase.h.

◆ simul_post_timestep()

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 466 of file VehicleBase.cpp.

◆ simul_pre_timestep()

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 360 of file VehicleBase.cpp.

◆ updateMaxRadiusFromPoly()

void VehicleBase::updateMaxRadiusFromPoly ( )

protected

Definition at line 577 of file VehicleBase.cpp.

◆ writeLogStrings()

void VehicleBase::writeLogStrings ( )

protectedvirtual

Definition at line 793 of file VehicleBase.cpp.

Member Data Documentation

◆ chassis_color_

mrpt::img::TColor mvsim::VehicleBase::chassis_color_ {0xff, 0x00, 0x00}

protected

Definition at line 189 of file VehicleBase.h.

◆ chassis_com_

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

protected

center of mass. in local coordinates (this excludes the mass of wheels)

Definition at line 193 of file VehicleBase.h.

◆ chassis_mass_

double mvsim::VehicleBase::chassis_mass_ = 15.0

protected

Definition at line 180 of file VehicleBase.h.

◆ chassis_poly_

mrpt::math::TPolygon2D mvsim::VehicleBase::chassis_poly_

protected

Definition at line 181 of file VehicleBase.h.

◆ chassis_z_max_

double mvsim::VehicleBase::chassis_z_max_ = 0.6

protected

Definition at line 187 of file VehicleBase.h.

◆ chassis_z_min_

double mvsim::VehicleBase::chassis_z_min_ = 0.05

protected

Definition at line 187 of file VehicleBase.h.

◆ DL_TIMESTAMP

constexpr char VehicleBase::DL_TIMESTAMP = "Timestamp"

staticconstexpr

Definition at line 229 of file VehicleBase.h.

◆ fixture_chassis_

b2Fixture* mvsim::VehicleBase::fixture_chassis_

protected

Created at.

Definition at line 204 of file VehicleBase.h.

◆ fixture_wheels_

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

protected

[0]:rear-left, etc. (depending on derived class). Size set at constructor.

Definition at line 208 of file VehicleBase.h.

◆ forceSegmentsForRendering_

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

private

Definition at line 224 of file VehicleBase.h.

◆ forceSegmentsForRenderingMtx_

std::mutex mvsim::VehicleBase::forceSegmentsForRenderingMtx_

private

Definition at line 226 of file VehicleBase.h.

◆ friction_

FrictionBasePtr mvsim::VehicleBase::friction_

protected

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

Definition at line 175 of file VehicleBase.h.

◆ glChassisPhysical_

mrpt::opengl::CSetOfObjects::Ptr mvsim::VehicleBase::glChassisPhysical_

private

Definition at line 218 of file VehicleBase.h.

◆ glChassisViz_

mrpt::opengl::CSetOfObjects::Ptr mvsim::VehicleBase::glChassisViz_

private

Definition at line 218 of file VehicleBase.h.

◆ glForces_

mrpt::opengl::CSetOfLines::Ptr mvsim::VehicleBase::glForces_

private

Definition at line 220 of file VehicleBase.h.

◆ glInit_

std::atomic_bool mvsim::VehicleBase::glInit_ = false

private

Definition at line 222 of file VehicleBase.h.

◆ glMotorTorques_

mrpt::opengl::CSetOfLines::Ptr mvsim::VehicleBase::glMotorTorques_

private

Definition at line 221 of file VehicleBase.h.

◆ glWheelsPhysical_

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

private

Definition at line 219 of file VehicleBase.h.

◆ glWheelsViz_

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

private

Definition at line 219 of file VehicleBase.h.

◆ log_path_

std::string mvsim::VehicleBase::log_path_

protected

Definition at line 145 of file VehicleBase.h.

◆ LOGGER_POSE

constexpr char VehicleBase::LOGGER_POSE = "logger_pose"

staticconstexpr

Definition at line 230 of file VehicleBase.h.

◆ LOGGER_WHEEL

constexpr char VehicleBase::LOGGER_WHEEL = "logger_wheel"

staticconstexpr

Definition at line 231 of file VehicleBase.h.

◆ loggers_

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

protected

Definition at line 144 of file VehicleBase.h.

◆ maxRadius_

double mvsim::VehicleBase::maxRadius_ = 0.1

protected

Automatically computed from chassis_poly_ upon each change via updateMaxRadiusFromPoly()

Definition at line 185 of file VehicleBase.h.

◆ PL_DQ_X

constexpr char VehicleBase::PL_DQ_X = "dqx"

staticconstexpr

Definition at line 239 of file VehicleBase.h.

◆ PL_DQ_Y

constexpr char VehicleBase::PL_DQ_Y = "dqy"

staticconstexpr

Definition at line 240 of file VehicleBase.h.

◆ PL_DQ_Z

constexpr char VehicleBase::PL_DQ_Z = "dqz"

staticconstexpr

Definition at line 241 of file VehicleBase.h.

◆ PL_Q_PITCH

constexpr char VehicleBase::PL_Q_PITCH = "q4pitch"

staticconstexpr

Definition at line 237 of file VehicleBase.h.

◆ PL_Q_ROLL

constexpr char VehicleBase::PL_Q_ROLL = "q5roll"

staticconstexpr

Definition at line 238 of file VehicleBase.h.

◆ PL_Q_X

constexpr char VehicleBase::PL_Q_X = "q0x"

staticconstexpr

Definition at line 233 of file VehicleBase.h.

◆ PL_Q_Y

constexpr char VehicleBase::PL_Q_Y = "q1y"

staticconstexpr

Definition at line 234 of file VehicleBase.h.

◆ PL_Q_YAW

constexpr char VehicleBase::PL_Q_YAW = "q3yaw"

staticconstexpr

Definition at line 236 of file VehicleBase.h.

◆ PL_Q_Z

constexpr char VehicleBase::PL_Q_Z = "q2z"

staticconstexpr

Definition at line 235 of file VehicleBase.h.

◆ sensors_

TListSensors mvsim::VehicleBase::sensors_

protected

Sensors aboard.

Definition at line 177 of file VehicleBase.h.

◆ torqueSegmentsForRendering_

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

private

Definition at line 225 of file VehicleBase.h.

◆ vehicle_index_

size_t mvsim::VehicleBase::vehicle_index_ = 0

protected

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

Definition at line 172 of file VehicleBase.h.

◆ wheels_info_

std::deque<Wheel> mvsim::VehicleBase::wheels_info_

protected

Wheels info. The fixed size of this vector is set upon construction. Derived classes must define the order of the wheels, e.g. [0]=rear left, etc.

Definition at line 201 of file VehicleBase.h.

◆ WL_FRIC_X

constexpr char VehicleBase::WL_FRIC_X = "friction_x"

staticconstexpr

Definition at line 247 of file VehicleBase.h.

◆ WL_FRIC_Y

constexpr char VehicleBase::WL_FRIC_Y = "friction_y"

staticconstexpr

Definition at line 248 of file VehicleBase.h.

◆ WL_TORQUE

constexpr char VehicleBase::WL_TORQUE = "torque"

staticconstexpr

Definition at line 243 of file VehicleBase.h.

◆ WL_VEL_X

constexpr char VehicleBase::WL_VEL_X = "velocity_x"

staticconstexpr

Definition at line 245 of file VehicleBase.h.

◆ WL_VEL_Y

constexpr char VehicleBase::WL_VEL_Y = "velocity_y"

staticconstexpr

Definition at line 246 of file VehicleBase.h.

◆ WL_WEIGHT

constexpr char VehicleBase::WL_WEIGHT = "weight"

staticconstexpr

Definition at line 244 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

◆ Ptr

Constructor & Destructor Documentation

◆ VehicleBase()

Member Function Documentation

◆ apply_force()

◆ chassisAndWheelsVisible()

◆ chassisZMax()

◆ chassisZMin()

◆ clearLogs()

◆ create_multibody_system()

◆ dynamics_load_params_from_xml()

◆ factory() [1/2]

◆ factory() [2/2]

◆ freeOpenGLResources()

◆ get_fixture_chassis() [1/2]

◆ get_fixture_chassis() [2/2]

◆ get_fixture_wheels() [1/2]

◆ get_fixture_wheels() [2/2]

◆ getBox2DChassisBody()

◆ getChassisMass()

◆ getChassisShape()

◆ getControllerInterface()

◆ getLoggerPtr()

◆ getMaxVehicleRadius()

◆ getNumWheels()

◆ getSensors() [1/2]

◆ getSensors() [2/2]

◆ getVehicleIndex()

◆ getVelocityLocalOdoEstimate()

◆ getWheelInfo() [1/2]

◆ getWheelInfo() [2/2]

◆ getWheelsVelocityLocal()

◆ initLoggers()

◆ internal_internalGuiUpdate_forces()

◆ internal_internalGuiUpdate_sensors()

◆ internalGuiUpdate()

◆ invoke_motor_controllers()

◆ invoke_motor_controllers_post_step()

◆ isLogging()

◆ meAsVisualObject()

◆ newLogSession()

◆ register_vehicle_class()

◆ registerOnServer()

◆ setRecording()

◆ setVehicleIndex()

◆ simul_post_timestep()

◆ simul_pre_timestep()

◆ updateMaxRadiusFromPoly()

◆ writeLogStrings()

Member Data Documentation

◆ chassis_color_

◆ chassis_com_

◆ chassis_mass_

◆ chassis_poly_

◆ chassis_z_max_

◆ chassis_z_min_

◆ DL_TIMESTAMP

◆ fixture_chassis_

◆ fixture_wheels_

◆ forceSegmentsForRendering_

◆ forceSegmentsForRenderingMtx_

◆ friction_

◆ glChassisPhysical_

◆ glChassisViz_

◆ glForces_

◆ glInit_

◆ glMotorTorques_

◆ glWheelsPhysical_

◆ glWheelsViz_

◆ log_path_