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Model2DRigidDyncar Class Reference

A 5DOF dynamical model of a rigid car. This model uses a linear tire model, which is far from reality. The model was donated by Jim Bernard. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidDyncar:

Model2DRigid Model2D Model Model2DRigidDyncarNtire ModelCarDyn ModelCarDynNtire ModelCarDynRollover ModelCarDynSmoothRollover List of all members.

Public Methods

 Model2DRigidDyncar (string path)
virtual ~Model2DRigidDyncar ()
MSLVector Integrate (const MSLVector &x, const MSLVector &u, const double &h)
 Perform integration from state x, using input u, over time step h. More...

virtual MSLVector StateToConfiguration (const MSLVector &x)
 A method that converts a Model state in to a Geom configuration. More...

virtual MSLVector StateTransitionEquation (const MSLVector &x, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u). More...

virtual double Metric (const MSLVector &x1, const MSLVector &x2)
 A distance metric, which is Euclidean in the base class. More...

virtual MSLVector LinearInterpolate (const MSLVector &x1, const MSLVector &x2, const double &a)
 Linearly interpolate two state while respecting topology. More...

virtual MSLVector StateDifference (const MSLVector &x1, const MSLVector &x2)
 Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies. More...


Public Attributes

double Mass
 Mass in slugs (yuck! American customary units...). More...

double CAF
 Front cornering stiffness. More...

double CAR
 Rear cornering stiffness. More...

double Adist
 Mass center to front tires - feet. More...

double Bdist
 Mass center to rear tires - feet. More...

double Izz
 Yaw moment of interia - ft slugs^2. More...

double WorldScale
 Feet per world unit (100x100 world). More...

double MaxSteeringAngle
 Maximum steering angle in radians. More...

double Speed
 A forward speed of the car. More...

Detailed Description

A 5DOF dynamical model of a rigid car. This model uses a linear tire model, which is far from reality. The model was donated by Jim Bernard.

Constructor & Destructor Documentation

Model2DRigidDyncar::Model2DRigidDyncar (  string    path ) 
 

virtual Model2DRigidDyncar::~Model2DRigidDyncar (    )  [inline, virtual]
 

Member Function Documentation

MSLVector Model2DRigidDyncar::Integrate (  const MSLVector &    x,
const MSLVector &    u,
const double &    h
)  [virtual]
 

Perform integration from state x, using input u, over time step h.

Reimplemented from Model2DRigid.

Reimplemented in ModelCarDynRollover.

MSLVector Model2DRigidDyncar::LinearInterpolate (  const MSLVector &    x1,
const MSLVector &    x2,
const double &    a
)  [virtual]
 

Linearly interpolate two state while respecting topology.

If a=0, then x1 is returned; if a=1, then x2 is returned. All intermediate values of $a \in [0,1]$ yield intermediate states. This method is defined by Model.

Reimplemented from Model2DRigid.

Reimplemented in ModelCarDynSmoothRollover.

double Model2DRigidDyncar::Metric (  const MSLVector &    x1,
const MSLVector &    x2
)  [virtual]
 

A distance metric, which is Euclidean in the base class.

Reimplemented from Model2DRigid.

Reimplemented in ModelCarDyn.

MSLVector Model2DRigidDyncar::StateDifference (  const MSLVector &    x1,
const MSLVector &    x2
)  [virtual]
 

Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies.

Reimplemented from Model2DRigid.

MSLVector Model2DRigidDyncar::StateToConfiguration (  const MSLVector &    x )  [virtual]
 

A method that converts a Model state in to a Geom configuration.

Reimplemented from Model2DRigid.

Reimplemented in ModelCarDyn.

MSLVector Model2DRigidDyncar::StateTransitionEquation (  const MSLVector &    x,
const MSLVector &    u
)  [virtual]
 

The state transition equation, or equations of motion, xdot=f(x,u).

Reimplemented from Model2DRigid.

Reimplemented in Model2DRigidDyncarNtire.

Member Data Documentation

double Model2DRigidDyncar::Adist
 

Mass center to front tires - feet.

double Model2DRigidDyncar::Bdist
 

Mass center to rear tires - feet.

double Model2DRigidDyncar::CAF
 

Front cornering stiffness.

double Model2DRigidDyncar::CAR
 

Rear cornering stiffness.

double Model2DRigidDyncar::Izz
 

Yaw moment of interia - ft slugs^2.

double Model2DRigidDyncar::Mass
 

Mass in slugs (yuck! American customary units...).

double Model2DRigidDyncar::MaxSteeringAngle
 

Maximum steering angle in radians.

double Model2DRigidDyncar::Speed
 

A forward speed of the car.

double Model2DRigidDyncar::WorldScale
 

Feet per world unit (100x100 world).

The documentation for this class was generated from the following files: Motion Strategy Library

Web page maintained by Steve LaValle