CVehicleSimul_DiffDriven.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/CVehicleSimul_DiffDriven.h>
 
using namespace mrpt::kinematics;
 
CVehicleSimul_DiffDriven::CVehicleSimul_DiffDriven() : cTAU(.0), cDELAY(.0)
{
        resetStatus();
        resetTime();
}
CVehicleSimul_DiffDriven::~CVehicleSimul_DiffDriven() {}
void CVehicleSimul_DiffDriven::internal_clear()
{
        Command_Time = .0;
        Command_v = .0;
        Command_w = .0;
        m_v = m_w = 0;
}
 
void CVehicleSimul_DiffDriven::internal_simulControlStep(const double AAt)
{
        // Change velocities:
        // ----------------------------------------------------------------
        double elapsed_time = this->m_time - Command_Time;
        elapsed_time -= cDELAY;
        elapsed_time = std::max(0.0, elapsed_time);
 
        if (cTAU == 0 && cDELAY == 0)
        {
                m_v = Command_v;
                m_w = Command_w;
        }
        else
        {
                m_v = Command_v0 +
                          (Command_v - Command_v0) * (1 - exp(-elapsed_time / cTAU));
                m_w = Command_w0 +
                          (Command_w - Command_w0) * (1 - exp(-elapsed_time / cTAU));
        }
 
        // Local to global frame:
        m_odometric_vel.vx = cos(m_odometry.phi) * m_v;
        m_odometric_vel.vy = sin(m_odometry.phi) * m_v;
        m_odometric_vel.omega = m_w;
}
 
/*************************************************************************
                Gives a movement command to the robot:
 This actually saves the command for execution later on, if we have
 to take into account the robot low-pass behavior in velocities.
*************************************************************************/
void CVehicleSimul_DiffDriven::movementCommand(double lin_vel, double ang_vel)
{
        // Just save the command:
        Command_Time = m_time;
        Command_v = lin_vel;
        Command_w = ang_vel;
 
        // Current values:
        Command_v0 = m_v;
        Command_w0 = m_w;
}