MRPT  1.9.9
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mrpt::kinematics::CVehicleSimul_DiffDriven Class Reference

Detailed Description

Simulates the kinematics of a differential-driven planar mobile robot/vehicle, including odometry errors and dynamics limitations.

Definition at line 21 of file CVehicleSimul_DiffDriven.h.

#include <mrpt/kinematics/CVehicleSimul_DiffDriven.h>

Inheritance diagram for mrpt::kinematics::CVehicleSimul_DiffDriven:

Public Types

using kinematic_cmd_t = CVehicleVelCmd_DiffDriven
 

Public Member Functions

 CVehicleSimul_DiffDriven ()
 
 ~CVehicleSimul_DiffDriven () override
 
void setDelayModelParams (double TAU_delay_sec=1.8, double CMD_delay_sec=0.)
 Change the model of delays used for the orders sent to the robot. More...
 
void setV (double v)
 
void setW (double w)
 
double getV ()
 
double getW ()
 
void movementCommand (double lin_vel, double ang_vel)
 Used to command the robot a desired movement: More...
 
void sendVelCmd (const CVehicleVelCmd &cmd_vel) override
 Sends a velocity command to the robot. More...
 
CVehicleVelCmd::Ptr getVelCmdType () const override
 Gets an empty velocity command object that can be queried to find out the number of velcmd components,... More...
 
Kinematic simulation and control interface
void simulateOneTimeStep (const double dt)
 Runs the simulator during "dt" seconds. More...
 
const mrpt::math::TPose2DgetCurrentGTPose () const
 Returns the instantaneous, ground truth pose in world coordinates. More...
 
void setCurrentGTPose (const mrpt::math::TPose2D &pose)
 Brute-force move robot to target coordinates ("teleport") More...
 
const mrpt::math::TPose2DgetCurrentOdometricPose () const
 Returns the current pose according to (noisy) odometry. More...
 
template<typename T >
void setCurrentOdometricPose (const T &pose)
 Brute-force overwrite robot odometry. More...
 
const mrpt::math::TTwist2DgetCurrentGTVel () const
 Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in world coordinates. More...
 
mrpt::math::TTwist2D getCurrentGTVelLocal () const
 Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in the robot local frame. More...
 
const mrpt::math::TTwist2DgetCurrentOdometricVel () const
 Returns the instantaneous, odometric velocity vector (vx,vy,omega) in world coordinates. More...
 
mrpt::math::TTwist2D getCurrentOdometricVelLocal () const
 Returns the instantaneous, odometric velocity vector (vx,vy,omega) in the robot local frame. More...
 
double getTime () const
 Get the current simulation time. More...
 
void setOdometryErrors (bool enabled, double Ax_err_bias=1e-3, double Ax_err_std=10e-3, double Ay_err_bias=1e-3, double Ay_err_std=10e-3, double Aphi_err_bias=mrpt::DEG2RAD(1e-3), double Aphi_err_std=mrpt::DEG2RAD(10e-3))
 Enable/Disable odometry errors. More...
 
void resetStatus ()
 
void resetTime ()
 Reset all simulator variables to 0 (except the. More...
 

Protected Attributes

double m_firmware_control_period {500e-6}
 The period at which the low-level controller updates velocities (Default: 0.5 ms) More...
 
bool m_use_odo_error {false}
 Whether to corrupt odometry with noise. More...
 
double m_Ax_err_bias
 
double m_Ax_err_std
 
double m_Ay_err_bias
 
double m_Ay_err_std
 
double m_Aphi_err_bias
 
double m_Aphi_err_std
 
State vector
double m_time
 simulation running time More...
 
mrpt::math::TPose2D m_GT_pose
 ground truth pose in world coordinates. More...
 
mrpt::math::TTwist2D m_GT_vel
 Velocity in (x,y,omega) More...
 
mrpt::math::TTwist2D m_odometric_vel
 Velocity in (x,y,omega) More...
 
mrpt::math::TPose2D m_odometry
 

Private Member Functions

void internal_simulControlStep (const double dt) override
 
void internal_clear () override
 Resets all pending cmds. More...
 

Private Attributes

double m_v {0}
 lin & angular velocity in the robot local frame. More...
 
double m_w {0}
 
double Command_Time {0}
 Dynamic limitations of the robot. More...
 
double Command_v {0}
 
double Command_w {0}
 
double Command_v0 {0}
 
double Command_w0 {0}
 
double cTAU {.0}
 The time-constants for the first order low-pass filter for the velocities changes. More...
 
double cDELAY {.0}
 The delay constant for the velocities changes. More...
 

Member Typedef Documentation

◆ kinematic_cmd_t

Definition at line 24 of file CVehicleSimul_DiffDriven.h.

Constructor & Destructor Documentation

◆ CVehicleSimul_DiffDriven()

CVehicleSimul_DiffDriven::CVehicleSimul_DiffDriven ( )

Definition at line 16 of file CVehicleSimul_DiffDriven.cpp.

References mrpt::kinematics::CVehicleSimulVirtualBase::resetStatus(), and mrpt::kinematics::CVehicleSimulVirtualBase::resetTime().

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◆ ~CVehicleSimul_DiffDriven()

CVehicleSimul_DiffDriven::~CVehicleSimul_DiffDriven ( )
overridedefault

Member Function Documentation

◆ getCurrentGTPose()

const mrpt::math::TPose2D& mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose ( ) const
inlineinherited

Returns the instantaneous, ground truth pose in world coordinates.

Definition at line 45 of file CVehicleSimulVirtualBase.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_pose.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getCurrentPoseAndSpeeds(), mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getCurrentPoseAndSpeeds(), and run_rnav_test().

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◆ getCurrentGTVel()

const mrpt::math::TTwist2D& mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVel ( ) const
inlineinherited

Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in world coordinates.

Definition at line 64 of file CVehicleSimulVirtualBase.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_vel.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getCurrentPoseAndSpeeds(), and mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getCurrentPoseAndSpeeds().

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◆ getCurrentGTVelLocal()

mrpt::math::TTwist2D CVehicleSimulVirtualBase::getCurrentGTVelLocal ( ) const
inherited

Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in the robot local frame.

Definition at line 83 of file CVehicleSimulVirtualBase.cpp.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_pose, mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_vel, mrpt::math::TPose2D::phi, and mrpt::math::TTwist2D::rotate().

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◆ getCurrentOdometricPose()

const mrpt::math::TPose2D& mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricPose ( ) const
inlineinherited

Returns the current pose according to (noisy) odometry.

See also
setOdometryErrors

Definition at line 51 of file CVehicleSimulVirtualBase.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_odometry.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getCurrentPoseAndSpeeds(), and mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getCurrentPoseAndSpeeds().

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◆ getCurrentOdometricVel()

const mrpt::math::TTwist2D& mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVel ( ) const
inlineinherited

Returns the instantaneous, odometric velocity vector (vx,vy,omega) in world coordinates.

Definition at line 71 of file CVehicleSimulVirtualBase.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_odometric_vel.

◆ getCurrentOdometricVelLocal()

mrpt::math::TTwist2D CVehicleSimulVirtualBase::getCurrentOdometricVelLocal ( ) const
inherited

Returns the instantaneous, odometric velocity vector (vx,vy,omega) in the robot local frame.

Definition at line 90 of file CVehicleSimulVirtualBase.cpp.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_odometric_vel, mrpt::kinematics::CVehicleSimulVirtualBase::m_odometry, mrpt::math::TPose2D::phi, and mrpt::math::TTwist2D::rotate().

Referenced by mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep().

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◆ getTime()

double mrpt::kinematics::CVehicleSimulVirtualBase::getTime ( ) const
inlineinherited

Get the current simulation time.

Definition at line 80 of file CVehicleSimulVirtualBase.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_time.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getNavigationTime(), mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getNavigationTime(), mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::resetNavigationTimer(), and mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::resetNavigationTimer().

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◆ getV()

double mrpt::kinematics::CVehicleSimul_DiffDriven::getV ( )
inline

Definition at line 40 of file CVehicleSimul_DiffDriven.h.

References m_v.

◆ getVelCmdType()

CVehicleVelCmd::Ptr mrpt::kinematics::CVehicleSimul_DiffDriven::getVelCmdType ( ) const
inlineoverridevirtual

Gets an empty velocity command object that can be queried to find out the number of velcmd components,...

Implements mrpt::kinematics::CVehicleSimulVirtualBase.

Definition at line 57 of file CVehicleSimul_DiffDriven.h.

◆ getW()

double mrpt::kinematics::CVehicleSimul_DiffDriven::getW ( )
inline

Definition at line 41 of file CVehicleSimul_DiffDriven.h.

References m_w.

◆ internal_clear()

void CVehicleSimul_DiffDriven::internal_clear ( )
overrideprivatevirtual

Resets all pending cmds.

Implements mrpt::kinematics::CVehicleSimulVirtualBase.

Definition at line 22 of file CVehicleSimul_DiffDriven.cpp.

References Command_Time, Command_v, Command_w, m_v, and m_w.

◆ internal_simulControlStep()

void CVehicleSimul_DiffDriven::internal_simulControlStep ( const double  dt)
overrideprivatevirtual

◆ movementCommand()

void CVehicleSimul_DiffDriven::movementCommand ( double  lin_vel,
double  ang_vel 
)

Used to command the robot a desired movement:

Parameters
lin_velLinar velocity (m/s)
ang_velAngular velocity (rad/s)

Definition at line 62 of file CVehicleSimul_DiffDriven.cpp.

References Command_Time, Command_v, Command_v0, Command_w, Command_w0, mrpt::kinematics::CVehicleSimulVirtualBase::m_time, m_v, and m_w.

Referenced by sendVelCmd().

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◆ resetStatus()

void CVehicleSimulVirtualBase::resetStatus ( )
inherited

Definition at line 73 of file CVehicleSimulVirtualBase.cpp.

References mrpt::kinematics::CVehicleSimulVirtualBase::internal_clear(), mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_pose, mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_vel, mrpt::kinematics::CVehicleSimulVirtualBase::m_odometric_vel, and mrpt::kinematics::CVehicleSimulVirtualBase::m_odometry.

Referenced by CVehicleSimul_DiffDriven(), and mrpt::kinematics::CVehicleSimul_Holo::CVehicleSimul_Holo().

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◆ resetTime()

void CVehicleSimulVirtualBase::resetTime ( )
inherited

Reset all simulator variables to 0 (except the.

simulation time).

See also
resetTime Reset time counter
resetStatus

Definition at line 82 of file CVehicleSimulVirtualBase.cpp.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_time.

Referenced by CVehicleSimul_DiffDriven(), and mrpt::kinematics::CVehicleSimul_Holo::CVehicleSimul_Holo().

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◆ sendVelCmd()

void mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd ( const CVehicleVelCmd cmd_vel)
inlineoverridevirtual

Sends a velocity command to the robot.

The number of components and their meaning depends on the vehicle-kinematics derived class

Implements mrpt::kinematics::CVehicleSimulVirtualBase.

Definition at line 48 of file CVehicleSimul_DiffDriven.h.

References ASSERTMSG_, and movementCommand().

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::changeSpeeds(), and mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::stop().

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◆ setCurrentGTPose()

void CVehicleSimulVirtualBase::setCurrentGTPose ( const mrpt::math::TPose2D pose)
inherited

Brute-force move robot to target coordinates ("teleport")

Definition at line 21 of file CVehicleSimulVirtualBase.cpp.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_pose.

◆ setCurrentOdometricPose()

template<typename T >
void mrpt::kinematics::CVehicleSimulVirtualBase::setCurrentOdometricPose ( const T &  pose)
inlineinherited

Brute-force overwrite robot odometry.

Definition at line 57 of file CVehicleSimulVirtualBase.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_odometry.

◆ setDelayModelParams()

void mrpt::kinematics::CVehicleSimul_DiffDriven::setDelayModelParams ( double  TAU_delay_sec = 1.8,
double  CMD_delay_sec = 0. 
)
inline

Change the model of delays used for the orders sent to the robot.

See also
movementCommand

Definition at line 31 of file CVehicleSimul_DiffDriven.h.

References cDELAY, and cTAU.

◆ setOdometryErrors()

void mrpt::kinematics::CVehicleSimulVirtualBase::setOdometryErrors ( bool  enabled,
double  Ax_err_bias = 1e-3,
double  Ax_err_std = 10e-3,
double  Ay_err_bias = 1e-3,
double  Ay_err_std = 10e-3,
double  Aphi_err_bias = mrpt::DEG2RAD(1e-3),
double  Aphi_err_std = mrpt::DEG2RAD(10e-3) 
)
inlineinherited

◆ setV()

void mrpt::kinematics::CVehicleSimul_DiffDriven::setV ( double  v)
inline

Definition at line 38 of file CVehicleSimul_DiffDriven.h.

References m_v.

◆ setW()

void mrpt::kinematics::CVehicleSimul_DiffDriven::setW ( double  w)
inline

Definition at line 39 of file CVehicleSimul_DiffDriven.h.

References m_w.

◆ simulateOneTimeStep()

void CVehicleSimulVirtualBase::simulateOneTimeStep ( const double  dt)
inherited

Runs the simulator during "dt" seconds.

It will be split into periods of "m_firmware_control_period".

Definition at line 26 of file CVehicleSimulVirtualBase.cpp.

References mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVelLocal(), mrpt::random::getRandomGenerator(), mrpt::kinematics::CVehicleSimulVirtualBase::internal_simulControlStep(), mrpt::kinematics::CVehicleSimulVirtualBase::m_Aphi_err_bias, mrpt::kinematics::CVehicleSimulVirtualBase::m_Aphi_err_std, mrpt::kinematics::CVehicleSimulVirtualBase::m_Ax_err_bias, mrpt::kinematics::CVehicleSimulVirtualBase::m_Ax_err_std, mrpt::kinematics::CVehicleSimulVirtualBase::m_Ay_err_bias, mrpt::kinematics::CVehicleSimulVirtualBase::m_Ay_err_std, mrpt::kinematics::CVehicleSimulVirtualBase::m_firmware_control_period, mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_pose, mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_vel, mrpt::kinematics::CVehicleSimulVirtualBase::m_odometric_vel, mrpt::kinematics::CVehicleSimulVirtualBase::m_odometry, mrpt::kinematics::CVehicleSimulVirtualBase::m_time, mrpt::kinematics::CVehicleSimulVirtualBase::m_use_odo_error, mrpt::math::TTwist2D::omega, mrpt::math::TPose2D::phi, mrpt::math::TTwist2D::rotate(), mrpt::math::TTwist2D::vx, mrpt::math::TTwist2D::vy, mrpt::math::wrapToPiInPlace(), and mrpt::math::TPose2D::x.

Referenced by run_rnav_test().

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Member Data Documentation

◆ cDELAY

double mrpt::kinematics::CVehicleSimul_DiffDriven::cDELAY {.0}
private

The delay constant for the velocities changes.

Definition at line 81 of file CVehicleSimul_DiffDriven.h.

Referenced by internal_simulControlStep(), and setDelayModelParams().

◆ Command_Time

double mrpt::kinematics::CVehicleSimul_DiffDriven::Command_Time {0}
private

Dynamic limitations of the robot.

Approximation to non-infinity motor forces: A first order low-pass filter, using: Command_Time: Time "t" when the last order was received. Command_v, Command_w: The user-desired velocities. Command_v0, Command_w0: Actual robot velocities at the moment of user request.

Definition at line 74 of file CVehicleSimul_DiffDriven.h.

Referenced by internal_clear(), internal_simulControlStep(), and movementCommand().

◆ Command_v

double mrpt::kinematics::CVehicleSimul_DiffDriven::Command_v {0}
private

◆ Command_v0

double mrpt::kinematics::CVehicleSimul_DiffDriven::Command_v0 {0}
private

Definition at line 74 of file CVehicleSimul_DiffDriven.h.

Referenced by internal_simulControlStep(), and movementCommand().

◆ Command_w

double mrpt::kinematics::CVehicleSimul_DiffDriven::Command_w {0}
private

◆ Command_w0

double mrpt::kinematics::CVehicleSimul_DiffDriven::Command_w0 {0}
private

Definition at line 75 of file CVehicleSimul_DiffDriven.h.

Referenced by internal_simulControlStep(), and movementCommand().

◆ cTAU

double mrpt::kinematics::CVehicleSimul_DiffDriven::cTAU {.0}
private

The time-constants for the first order low-pass filter for the velocities changes.

Definition at line 79 of file CVehicleSimul_DiffDriven.h.

Referenced by internal_simulControlStep(), and setDelayModelParams().

◆ m_Aphi_err_bias

double mrpt::kinematics::CVehicleSimulVirtualBase::m_Aphi_err_bias
protectedinherited

◆ m_Aphi_err_std

double mrpt::kinematics::CVehicleSimulVirtualBase::m_Aphi_err_std
protectedinherited

◆ m_Ax_err_bias

double mrpt::kinematics::CVehicleSimulVirtualBase::m_Ax_err_bias
protectedinherited

◆ m_Ax_err_std

double mrpt::kinematics::CVehicleSimulVirtualBase::m_Ax_err_std
protectedinherited

◆ m_Ay_err_bias

double mrpt::kinematics::CVehicleSimulVirtualBase::m_Ay_err_bias
protectedinherited

◆ m_Ay_err_std

double mrpt::kinematics::CVehicleSimulVirtualBase::m_Ay_err_std
protectedinherited

◆ m_firmware_control_period

double mrpt::kinematics::CVehicleSimulVirtualBase::m_firmware_control_period {500e-6}
protectedinherited

The period at which the low-level controller updates velocities (Default: 0.5 ms)

Definition at line 128 of file CVehicleSimulVirtualBase.h.

Referenced by mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep().

◆ m_GT_pose

mrpt::math::TPose2D mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_pose
protectedinherited

◆ m_GT_vel

mrpt::math::TTwist2D mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_vel
protectedinherited

◆ m_odometric_vel

mrpt::math::TTwist2D mrpt::kinematics::CVehicleSimulVirtualBase::m_odometric_vel
protectedinherited

◆ m_odometry

mrpt::math::TPose2D mrpt::kinematics::CVehicleSimulVirtualBase::m_odometry
protectedinherited

◆ m_time

double mrpt::kinematics::CVehicleSimulVirtualBase::m_time
protectedinherited

◆ m_use_odo_error

bool mrpt::kinematics::CVehicleSimulVirtualBase::m_use_odo_error {false}
protectedinherited

◆ m_v

double mrpt::kinematics::CVehicleSimul_DiffDriven::m_v {0}
private

lin & angular velocity in the robot local frame.

Definition at line 64 of file CVehicleSimul_DiffDriven.h.

Referenced by getV(), internal_clear(), internal_simulControlStep(), movementCommand(), and setV().

◆ m_w

double mrpt::kinematics::CVehicleSimul_DiffDriven::m_w {0}
private



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