Class CVehicleSimulVirtualBase

Defined in File CVehicleSimulVirtualBase.h

Inheritance Relationships

Derived Types

public mrpt::kinematics::CVehicleSimul_DiffDriven (Class CVehicleSimul_DiffDriven)
public mrpt::kinematics::CVehicleSimul_Holo (Class CVehicleSimul_Holo)

Class Documentation

class CVehicleSimulVirtualBase

This class can be used to simulate the kinematics and dynamics of a differential driven planar mobile robot, including odometry errors and dynamics limitations. Main API methods are:

movementCommand: Call this for send a command to the robot. This command will be delayed and passed through a first order low-pass filter to simulate robot dynamics.
simulateInterval: Call this for run the simulator for the desired time period.

Subclassed by mrpt::kinematics::CVehicleSimul_DiffDriven, mrpt::kinematics::CVehicleSimul_Holo

State vector

double m_time: simulation running time

mrpt::math::TPose2D m_GT_pose: ground truth pose in world coordinates.

mrpt::math::TTwist2D m_GT_vel: Velocity in (x,y,omega)

mrpt::math::TTwist2D m_odometric_vel: Velocity in (x,y,omega)

mrpt::math::TPose2D m_odometry

Kinematic simulation and control interface

void simulateOneTimeStep(const double dt): Runs the simulator during “dt” seconds. It will be split into periods of “m_firmware_control_period”.

inline const mrpt::math::TPose2D &getCurrentGTPose() const: Returns the instantaneous, ground truth pose in world coordinates

void setCurrentGTPose(const mrpt::math::TPose2D &pose): Brute-force move robot to target coordinates (“teleport”)

inline const mrpt::math::TPose2D &getCurrentOdometricPose() const

Returns the current pose according to (noisy) odometry