CVehicleSimulVirtualBase.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "kinematics-precomp.h"  // Precompiled header

#include <mrpt/kinematics/CVehicleSimulVirtualBase.h>
#include <mrpt/math/wrap2pi.h>
#include <mrpt/random.h>

using namespace mrpt::kinematics;

CVehicleSimulVirtualBase::CVehicleSimulVirtualBase()
        : m_firmware_control_period(500e-6), m_use_odo_error(false)
{
}

CVehicleSimulVirtualBase::~CVehicleSimulVirtualBase() {}
void CVehicleSimulVirtualBase::setCurrentGTPose(const mrpt::math::TPose2D& pose)
{
        m_GT_pose = pose;
}

void CVehicleSimulVirtualBase::simulateOneTimeStep(const double dt)
{
        using mrpt::math::TPose2D;
        const double final_t = m_time + dt;
        while (m_time <= final_t)
        {
                // Simulate movement during At:
                TPose2D nextOdometry = m_odometry;
                nextOdometry.x += m_odometric_vel.vx * m_firmware_control_period;
                nextOdometry.y += m_odometric_vel.vy * m_firmware_control_period;
                nextOdometry.phi += m_odometric_vel.omega * m_firmware_control_period;
                mrpt::math::wrapToPiInPlace(nextOdometry.phi);

                TPose2D nextGT = m_GT_pose;
                nextGT.x += m_GT_vel.vx * m_firmware_control_period;
                nextGT.y += m_GT_vel.vy * m_firmware_control_period;
                nextGT.phi += m_GT_vel.omega * m_firmware_control_period;
                mrpt::math::wrapToPiInPlace(nextGT.phi);

                this->internal_simulControlStep(m_firmware_control_period);

                // Now rotate our current Odo velocity into GT coordinates
                m_GT_vel = getCurrentOdometricVelLocal();
                m_GT_vel.rotate(m_GT_pose.phi);

                // Add some errors
                if (m_use_odo_error)
                {
                        nextGT.x +=
                                m_Ax_err_bias +
                                m_Ax_err_std *
                                        mrpt::random::getRandomGenerator().drawGaussian1D_normalized();
                        nextGT.y +=
                                m_Ay_err_bias +
                                m_Ay_err_std *
                                        mrpt::random::getRandomGenerator().drawGaussian1D_normalized();
                        nextGT.phi +=
                                m_Aphi_err_bias +
                                m_Aphi_err_std *
                                        mrpt::random::getRandomGenerator().drawGaussian1D_normalized();
                        mrpt::math::wrapToPiInPlace(nextGT.phi);
                }

                m_odometry = nextOdometry;
                m_GT_pose = nextGT;

                m_time += m_firmware_control_period;  // Move forward
        }
}

void CVehicleSimulVirtualBase::resetStatus()
{
        m_GT_pose = mrpt::math::TPose2D(.0, .0, .0);
        m_GT_vel = mrpt::math::TTwist2D(.0, .0, .0);
        m_odometry = mrpt::math::TPose2D(.0, .0, .0);
        m_odometric_vel = mrpt::math::TTwist2D(.0, .0, .0);
        internal_clear();
}

void CVehicleSimulVirtualBase::resetTime() { m_time = .0; }
mrpt::math::TTwist2D CVehicleSimulVirtualBase::getCurrentGTVelLocal() const
{
        mrpt::math::TTwist2D tl = this->m_GT_vel;
        tl.rotate(-m_GT_pose.phi);
        return tl;
}

mrpt::math::TTwist2D CVehicleSimulVirtualBase::getCurrentOdometricVelLocal()
        const
{
        mrpt::math::TTwist2D tl = this->m_odometric_vel;
        tl.rotate(-m_odometry.phi);
        return tl;
}