mrpt.kinematics

mrpt.kinematics — Vehicle kinematic models and simulators.

Provides:

• CVehicleVelCmd_DiffDriven : Velocity command for differential-drive robots

• CVehicleVelCmd_Holo : Velocity command for holonomic robots

• CVehicleSimulVirtualBase : Abstract base for vehicle simulators

• CVehicleSimul_DiffDriven : Differential-drive robot simulator

• CVehicleSimul_Holo : Holonomic robot simulator

Example — simulate a diff-drive robot:

import mrpt.kinematics as kin
import mrpt.math

robot = kin.CVehicleSimul_DiffDriven()
robot.movementCommand(lin_vel=0.5, ang_vel=0.1)
for _ in range(100):
    robot.simulateOneTimeStep(dt=0.01)
pose = robot.getCurrentGTPose()
print(f"Pose: ({pose.x:.3f}, {pose.y:.3f}, {pose.phi:.3f})")

Package Contents

class mrpt.kinematics.CVehicleSimulVirtualBase

C++ API: class mrpt::kinematics::CVehicleSimulVirtualBase

getCurrentGTPose() → mrpt.math.TPose2D

Get current ground-truth pose (x, y, phi)

getCurrentOdometricPose() → mrpt.math.TPose2D

Get current odometric (noisy) pose (x, y, phi)

setCurrentGTPose(pose: mrpt.math.TPose2D) → None

setCurrentOdometricPose(pose: mrpt.math.TPose2D) → None

simulateOneTimeStep(dt: float) → None

Advance simulation by dt seconds

class mrpt.kinematics.CVehicleSimul_DiffDriven

C++ API: class mrpt::kinematics::CVehicleSimul_DiffDriven

Bases: CVehicleSimulVirtualBase

movementCommand(lin_vel: float, ang_vel: float) → None

Set velocity command: linear (m/s) and angular (rad/s)

class mrpt.kinematics.CVehicleSimul_Holo

C++ API: class mrpt::kinematics::CVehicleSimul_Holo

Bases: CVehicleSimulVirtualBase

sendVelRampCmd(vel: float, dir: float, ramp_time: float, rot_speed: float) → None

Send a velocity ramp command to the holonomic robot

class mrpt.kinematics.CVehicleVelCmd_DiffDriven

C++ API: class mrpt::kinematics::CVehicleVelCmd_DiffDriven

property ang_vel: float

Angular velocity (rad/s)

property lin_vel: float

Linear velocity (m/s)

isStopCmd() → bool

setToStop() → None

class mrpt.kinematics.CVehicleVelCmd_Holo

C++ API: class mrpt::kinematics::CVehicleVelCmd_Holo

CVehicleVelCmd_Holo(vel: float, dir_local: float, ramp_time: float, rot_speed: float)

property dir_local: float

Direction relative to robot heading (radians)

property ramp_time: float

Blending time (seconds)

property rot_speed: float

Rotational speed for heading correction (rad/s)

property vel: float

Linear speed (m/s)

isStopCmd() → bool

setToStop() → None