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ModelCarDynRollover Class Reference

A car model considering the rolling effect and the pressure on different tires of the car is different. If the pressure on one tire is 0, the car is considered rolling over. The pressure model of the tire is rigid such that pressure can change at instant time, which means: (1) It might be the reason that only forward RRT tree works. (2) In the SelectInput function, pressure has to be restored when to test new inputs. More...

#include <modelcar.h>

Inheritance diagram for ModelCarDynRollover:

ModelCarDynNtire Model2DRigidDyncarNtire Model2DRigidDyncar Model2DRigid Model2D Model ModelCarDynSmoothRollover List of all members.

Public Methods

 ModelCarDynRollover (string path)
virtual ~ModelCarDynRollover ()
int sgn (double x)
virtual MSLVector StateTransitionEquation (const MSLVector &x1, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u). More...

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

virtual MSLVector Integrate (const MSLVector &x, const MSLVector &u, const double &h)
 !!!!!!!! It has both the state and the uncontrolled state. More...

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

bool RollOverFree (const MSLVector &x)
bool Satisfied (const MSLVector &x)
 Test whether global state-space constraints are satisfied. More...


Public Attributes

double K
double c
double Ixx
double T
double H
double H2
double Ms
double Wn
double Fai
double x
bool IsRollOver

Detailed Description

A car model considering the rolling effect and the pressure on different tires of the car is different. If the pressure on one tire is 0, the car is considered rolling over. The pressure model of the tire is rigid such that pressure can change at instant time, which means: (1) It might be the reason that only forward RRT tree works. (2) In the SelectInput function, pressure has to be restored when to test new inputs.

Constructor & Destructor Documentation

ModelCarDynRollover::ModelCarDynRollover (  string    path ) 
 

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

Member Function Documentation

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

!!!!!!!! It has both the state and the uncontrolled state.

Reimplemented from Model2DRigidDyncar.

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

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

Reimplemented from ModelCarDynNtire.

Reimplemented in ModelCarDynSmoothRollover.

bool ModelCarDynRollover::RollOverFree (  const MSLVector &    x ) 
 

bool ModelCarDynRollover::Satisfied (  const MSLVector &    x )  [virtual]
 

Test whether global state-space constraints are satisfied.

Reimplemented from Model.

int ModelCarDynRollover::sgn (  double    x ) 
 

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

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

Reimplemented from ModelCarDynNtire.

Reimplemented in ModelCarDynSmoothRollover.

MSLVector ModelCarDynRollover::StateTransitionEquation (  const MSLVector &    x1,
const MSLVector &    u
)  [virtual]
 

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

Reimplemented from Model2DRigidDyncarNtire.

Reimplemented in ModelCarDynSmoothRollover.

Member Data Documentation

double ModelCarDynRollover::c
 

double ModelCarDynRollover::Fai
 

double ModelCarDynRollover::H
 

double ModelCarDynRollover::H2
 

bool ModelCarDynRollover::IsRollOver
 

double ModelCarDynRollover::Ixx
 

double ModelCarDynRollover::K
 

double ModelCarDynRollover::Ms
 

double ModelCarDynRollover::T
 

double ModelCarDynRollover::Wn
 

double ModelCarDynRollover::x
 

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

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