#include <VehicleAckermann_Drivetrain.h>

Inheritance diagram for mvsim::DynamicsAckermannDrivetrain:

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Collaboration diagram for mvsim::DynamicsAckermannDrivetrain:

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Classes
class	ControllerFrontSteerPID

class	ControllerRawForces

class	ControllerTwistFrontSteerPID

struct	TControllerInput

struct	TControllerOutput

Public Types
enum	{ WHEEL_RL = 0 , WHEEL_RR = 1 , WHEEL_FL = 2 , WHEEL_FR = 3 }

enum	DifferentialType { DIFF_OPEN_FRONT = 0 , DIFF_OPEN_REAR = 1 , DIFF_OPEN_4WD = 2 , DIFF_TORSEN_FRONT = 3 , DIFF_TORSEN_REAR = 4 , DIFF_TORSEN_4WD = 5 , DIFF_MAX }

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
	DynamicsAckermannDrivetrain (World *parent)

double	getMaxSteeringAngle () const

void	setMaxSteeringAngle (double val)

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

void	computeFrontWheelAngles (const double desired_equiv_steer_ang, double &out_fl_ang, double &out_fr_ang) const

void	computeDiffTorqueSplit (const double w1, const double w2, const double diffBias, const double defaultSplitRatio, double &t1, double &t2)

Public Member Functions inherited from mvsim::VehicleBase
virtual void	simul_pre_timestep (const TSimulContext &context) override

virtual void	simul_post_timestep (const TSimulContext &context) override

virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0)) override

virtual void	create_multibody_system (b2World &world)

virtual double	getMaxVehicleRadius () const

virtual double	getChassisMass () const

b2Body *	getBox2DChassisBody ()

mrpt::math::TPoint2D	getChassisCenterOfMass () const
	In local coordinates (this excludes the mass of wheels)

size_t	getNumWheels () const

const Wheel &	getWheelInfo (const size_t idx) const

Wheel &	getWheelInfo (const size_t idx)

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

double	estimateSlopeTorquePerWheel (size_t nDrivenWheels=0) const

const TListSensors &	getSensors () const

TListSensors &	getSensors ()

CSVLogger::Ptr	getLoggerPtr (const std::size_t logger_index)

const std::vector< CSVLogger::Ptr > &	getLoggers () const

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

void	setVehicleIndex (size_t idx)

size_t	getVehicleIndex () const

void	setRecording (bool record)

void	clearLogs ()

void	newLogSession ()

void	registerOnServer (mvsim::Client &c) override

b2Fixture *	get_fixture_chassis ()

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

const b2Fixture *	get_fixture_chassis () const

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

void	freeOpenGLResources () override

void	chassisAndWheelsVisible (bool visible)

double	chassisZMin () const

double	chassisZMax () const

const mrpt::math::TPoint3D &	getSlopeDirection () const

void	setSlopeDirection (const mrpt::math::TPoint3D &d)

mrpt::poses::CPose2D	getOdometry () const

void	resetOdometry ()

bool	isLogging () const

Public Member Functions inherited from mvsim::VisualObject
	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

	VisualObject (const VisualObject &)=delete

VisualObject &	operator= (const VisualObject &)=delete

	VisualObject (VisualObject &&)=delete

VisualObject &	operator= (VisualObject &&)=delete

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	customVisualVisible (const bool visible)

bool	customVisualVisible () const

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

void	showCollisionShape (bool show)

Public Member Functions inherited from mvsim::Simulable
	Simulable (World *parent)

mrpt::math::TTwist2D	getRefVelocityLocal () const

mrpt::math::TTwist2D	getVelocityLocal () const

mrpt::math::TTwist2D	getRefVelocityGlobal () const

mrpt::math::TTwist2D	getComVelocityGlobal () const

mrpt::math::TPose3D	getPose () const

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

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

mrpt::math::TVector3D	getLinearAcceleration () const

void	setPose (const mrpt::math::TPose3D &p, bool notifyChange=true) const

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

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

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

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

const std::string &	getName () const

void	setName (const std::string &s)

bool	isInCollision () const

bool	hadCollision () const

void	resetCollisionFlag ()

const b2Body *	b2d_body () const

b2Body *	b2d_body ()

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

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

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

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

virtual void	writeLogStrings ()

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

	VehicleBase (World *parent, size_t nWheels)

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

VisualObject *	meAsVisualObject () override

void	updateMaxRadiusFromPoly ()

Protected Member Functions inherited from mvsim::VisualObject
bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry.

bool	parseVisual (const JointXMLnode<> &rootNode)

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, const std::optional< double > &scaleOverride=std::nullopt)

void	setCollisionShape (const Shape2p5 &cs)

Controllers
using	ControllerBase = ControllerBaseTempl< DynamicsAckermannDrivetrain >

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.

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 std::string_view	DL_TIMESTAMP = "Timestamp"

static constexpr std::size_t	LOGGER_IDX_POSE = 0

static constexpr std::size_t	LOGGER_IDX_WHEELS = 1

static constexpr std::string_view	PL_Q_X = "q0x"

static constexpr std::string_view	PL_Q_Y = "q1y"

static constexpr std::string_view	PL_Q_Z = "q2z"

static constexpr std::string_view	PL_Q_YAW = "q3yaw"

static constexpr std::string_view	PL_Q_PITCH = "q4pitch"

static constexpr std::string_view	PL_Q_ROLL = "q5roll"

static constexpr std::string_view	PL_DQ_X = "dqx"

static constexpr std::string_view	PL_DQ_Y = "dqy"

static constexpr std::string_view	PL_DQ_W = "dqw"

static constexpr std::string_view	PL_ODO_X = "odo_x"

static constexpr std::string_view	PL_ODO_Y = "odo_y"

static constexpr std::string_view	PL_ODO_YAW = "odo_yaw"

static constexpr std::string_view	WL_TORQUE = "torque"

static constexpr std::string_view	WL_FORCE_Z = "force_z"

static constexpr std::string_view	WL_VEL_X = "velocity_x"

static constexpr std::string_view	WL_VEL_Y = "velocity_y"

static constexpr std::string_view	WL_FRIC_X = "friction_x"

static constexpr std::string_view	WL_FRIC_Y = "friction_y"

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon

Protected Attributes inherited from mvsim::VehicleBase
std::vector< CSVLogger::Ptr >	loggers_

std::string	log_path_

bool	auto_start_recording_ = false

bool	idealControllerActive_ = false

size_t	vehicle_index_ = 0

std::vector< FrictionBase::Ptr >	frictions_

TListSensors	sensors_
	Sensors aboard.

double	chassis_mass_ = 15.0

mrpt::math::TPolygon2D	chassis_poly_

float	linear_damping_ = 0.1

float	angular_damping_ = 0.1

double	maxRadius_ = 0.1

double	chassis_z_min_ = 0.05

double	chassis_z_max_ = 0.6

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

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

mrpt::math::TPoint3D	slopeDir_ {0, 0, -1}

OdometryNoise	odometry_noise_

std::deque< Wheel >	wheels_info_

b2Fixture *	fixture_chassis_ = nullptr
	Created at.

std::vector< b2Fixture * >	fixture_wheels_

Protected Attributes inherited from mvsim::VisualObject
World *	world_

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

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

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoViz_ = true

const bool	insertCustomVizIntoPhysical_ = true

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

Detailed Description

Implementation of 4 wheels Ackermann-driven vehicles with drivetrain As motor input of drivetrain acts controller torque. Differential model is based on observations of Torsen-like differentials work. http://www.flashoffroad.com/features/Torsen/Torsen_white_paper.pdf

See also: class factory in VehicleBase::factory

Member Typedef Documentation

◆ ControllerBase

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

Virtual base for controllers of vehicles of type DynamicsAckermannLSDiff

Member Function Documentation

◆ computeDiffTorqueSplit()

void mvsim::DynamicsAckermannDrivetrain::computeDiffTorqueSplit	(	const double	w1,
		const double	w2,
		const double	diffBias,
		const double	defaultSplitRatio,
		double &	t1,
		double &	t2
	)

Computes differential split for Torsen-like limited slip differentials.

◆ computeFrontWheelAngles()

void mvsim::DynamicsAckermannDrivetrain::computeFrontWheelAngles	(	const double	desired_equiv_steer_ang,
		double &	out_fl_ang,
		double &	out_fr_ang
	)		const

Computes the exact angles of the front wheels required to have an equivalent central steering angle. The method takes into account all wheels info & steering limits stored in the object.

◆ dynamics_load_params_from_xml()

virtual void mvsim::DynamicsAckermannDrivetrain::dynamics_load_params_from_xml ( const rapidxml::xml_node< char > * xml_node )

overrideprotectedvirtual

Parse node <dynamics>: The derived-class part of load_params_from_xml(), also called in factory(). Includes parsing the <controller></controller> block.

Implements mvsim::VehicleBase.

◆ getMaxSteeringAngle()

double mvsim::DynamicsAckermannDrivetrain::getMaxSteeringAngle ( ) const

inline

The maximum steering angle (rad). Determines min turning radius

◆ getVelocityLocalOdoEstimate()

virtual mrpt::math::TTwist2D mvsim::DynamicsAckermannDrivetrain::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: getRefVelocityLocal()

Implements mvsim::VehicleBase.

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

/home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/VehicleDynamics/VehicleAckermann_Drivetrain.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Controllers

Additional Inherited Members