CVehicleSimul_DiffDriven.h

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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 |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/kinematics/CVehicleSimulVirtualBase.h>
#include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>
 
namespace mrpt
{
namespace kinematics
{
/** Simulates the kinematics of a differential-driven planar mobile
 * robot/vehicle, including odometry errors and dynamics limitations.
 *
 * \ingroup mrpt_kinematics_grp
 */
class CVehicleSimul_DiffDriven : public CVehicleSimulVirtualBase
{
   public:
        using kinematic_cmd_t = CVehicleVelCmd_DiffDriven;
 
        CVehicleSimul_DiffDriven();
        virtual ~CVehicleSimul_DiffDriven();
 
        /** Change the model of delays used for the orders sent to the robot \sa
         * movementCommand */
        void setDelayModelParams(
                double TAU_delay_sec = 1.8, double CMD_delay_sec = 0.)
        {
                cTAU = TAU_delay_sec;
                cDELAY = CMD_delay_sec;
        }
 
        void setV(double v) { m_v = v; }
        void setW(double w) { m_w = w; }
        double getV() { return m_v; }
        double getW() { return m_w; }
        /** Used to command the robot a desired movement:
                * \param lin_vel Linar velocity (m/s)
                * \param ang_vel Angular velocity (rad/s)
                */
        void movementCommand(double lin_vel, double ang_vel);
 
        void sendVelCmd(const CVehicleVelCmd& cmd_vel) override
        {
                const kinematic_cmd_t* cmd =
                        dynamic_cast<const kinematic_cmd_t*>(&cmd_vel);
                ASSERTMSG_(
                        cmd,
                        "Wrong vehicle kinematic class, expected "
                        "`CVehicleVelCmd_DiffDriven`");
                movementCommand(cmd->lin_vel, cmd->ang_vel);
        }
        CVehicleVelCmd::Ptr getVelCmdType() const override
        {
                return CVehicleVelCmd::Ptr(new kinematic_cmd_t());
        }
 
   private:
        /** lin & angular velocity in the robot local frame. */
        double m_v, m_w;
 
        /** 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.
                */
        double Command_Time, Command_v, Command_w, Command_v0, Command_w0;
 
        /** The time-constants for the first order low-pass filter for the
         * velocities changes. */
        double cTAU;
        /** The delay constant for the velocities changes */
        double cDELAY;
 
        void internal_simulControlStep(const double dt) override;
        void internal_clear() override;
};
 
}  // End of namespace
}  // End of namespace