#include <VehicleBase.h>

Inheritance diagram for mvsim::VehicleBase:

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Collaboration diagram for mvsim::VehicleBase:

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Classes
struct	OdometryNoise

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	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

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

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 ()

virtual ControllerBaseInterface *	getControllerInterface ()=0

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

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.

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

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 ()

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)

Protected Attributes
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

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

Member Function Documentation

◆ apply_force()

virtual void mvsim::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.

◆ create_multibody_system()

virtual void mvsim::VehicleBase::create_multibody_system ( b2World & world )

virtual

Create bodies, fixtures, etc. for the dynamical simulation. May be overriden by derived classes

◆ 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.

◆ estimateSlopeTorquePerWheel()

double mvsim::VehicleBase::estimateSlopeTorquePerWheel ( size_t nDrivenWheels = 0 ) const

Estimate the per-wheel torque needed to counteract gravity on a slope. Returns the torque (in Nm) that would be needed per driven wheel to hold the vehicle stationary on the current slope. Positive = uphill resistance (opposing forward motion on an uphill).

Parameters

[in] nDrivenWheels Number of driven wheels sharing the load.

◆ factory()

static Ptr mvsim::VehicleBase::factory	(	World *	parent,
		const rapidxml::xml_node< char > *	xml_node
	)

static

Class factory: Creates a vehicle from XML description of type "<vehicle>...</vehicle>".

◆ getChassisMass()

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

inlinevirtual

Get the overall vehicle mass, excluding wheels.

◆ 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)

◆ getMaxVehicleRadius()

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

inlinevirtual

Get (an approximation of) the max radius of the vehicle, from its point of reference (in meters)

◆ getOdometry()

mrpt::poses::CPose2D mvsim::VehicleBase::getOdometry ( ) const

inline

Gets the noisy, biased, odometry estimation.

◆ getSlopeDirection()

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

inline

The "down" direction (0,0,-1) in vehicle local frame, as computed from the terrain slope. Updated each timestep by the terrain elevation module. On flat ground this is (0,0,-1). On a slope, the x/y components indicate the gravity slope force direction.

◆ getVehicleIndex()

size_t mvsim::VehicleBase::getVehicleIndex ( ) const

inline

Get the vehicle index in the World

◆ 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: getRefVelocityLocal()

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

◆ getWheelsVelocityLocal()

std::vector<mrpt::math::TVector2D> mvsim::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=getRefVelocityLocal() for ground-truth.

◆ register_vehicle_class()

static void mvsim::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>".

◆ setVehicleIndex()

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

inline

Set the vehicle index in the World

◆ simul_post_timestep()

virtual void mvsim::VehicleBase::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update q_, dq_)

Reimplemented from mvsim::Simulable.

◆ simul_pre_timestep()

virtual void mvsim::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.

Member Data Documentation

◆ angular_damping_

float mvsim::VehicleBase::angular_damping_ = 0.1

protected

Damping ("c" viscous friction coefficient) for angular velocities of the chassis on world

◆ chassis_com_

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

protected

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

◆ fixture_wheels_

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

protected

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

◆ frictions_

std::vector<FrictionBase::Ptr> mvsim::VehicleBase::frictions_

protected

Instances of friction model for the vehicle-to-ground interaction, for each wheel

◆ idealControllerActive_

bool mvsim::VehicleBase::idealControllerActive_ = false

protected

When true, friction forces are computed (for wheel spin updates and logging) but NOT applied to the Box2D chassis body. This is set by ideal controllers that directly override the vehicle twist, so that friction reaction forces don't corrupt the kinematically-imposed trajectory.

◆ linear_damping_

float mvsim::VehicleBase::linear_damping_ = 0.1

protected

Damping ("c" viscous friction coefficient) for linear velocities of the chassis on world

◆ maxRadius_

double mvsim::VehicleBase::maxRadius_ = 0.1

protected

Automatically computed from chassis_poly_ upon each change via updateMaxRadiusFromPoly()

◆ slopeDir_

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

protected

Gravity "down" direction in vehicle local frame. On flat ground = (0,0,-1). Updated by internal_simul_pre_step_terrain_elevation() each timestep.

◆ vehicle_index_

size_t mvsim::VehicleBase::vehicle_index_ = 0

protected

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

◆ 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.

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/VehicleBase.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ apply_force()

◆ create_multibody_system()

◆ dynamics_load_params_from_xml()

◆ estimateSlopeTorquePerWheel()

◆ factory()

◆ getChassisMass()

◆ getChassisShape()

◆ getMaxVehicleRadius()

◆ getOdometry()

◆ getSlopeDirection()

◆ getVehicleIndex()

◆ getVelocityLocalOdoEstimate()

◆ getWheelsVelocityLocal()

◆ register_vehicle_class()

◆ setVehicleIndex()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ angular_damping_

◆ chassis_com_

◆ fixture_wheels_

◆ frictions_

◆ idealControllerActive_

◆ linear_damping_

◆ maxRadius_

◆ slopeDir_

◆ vehicle_index_

◆ wheels_info_