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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::

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.
virtual MSLVector	StateToConfiguration (const MSLVector &x)
	A method that converts a Model state in to a Geom configuration.
virtual MSLVector	StateTransitionEquation (const MSLVector &x, const MSLVector &u)
	The state transition equation, or equations of motion, xdot=f(x,u).
virtual double	Metric (const MSLVector &x1, const MSLVector &x2)
	A distance metric, which is Euclidean in the base class.
virtual MSLVector	LinearInterpolate (const MSLVector &x1, const MSLVector &x2, const double &a)
	Linearly interpolate two state while respecting topology. More...
Public Attributes
double	Mass
	Mass in slugs (yuck! American customary units...).
double	CAF
	Front cornering stiffness.
double	CAR
	Rear cornering stiffness.
double	Adist
	Mass center to front tires - feet.
double	Bdist
	Mass center to rear tires - feet.
double	Izz
	Yaw moment of interia - ft slugs^2.
double	WorldScale
	Feet per world unit (100x100 world).
double	MaxSteeringAngle
	Maximum steering angle in radians.
double	Speed
	A forward speed of the car.

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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.

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Constructor & Destructor Documentation

Model2DRigidDyncar::Model2DRigidDyncar ( string path )

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

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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.

virtual 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.

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

A distance metric, which is Euclidean in the base class. Reimplemented from Model2DRigid.

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

A method that converts a Model state in to a Geom configuration. Reimplemented from Model2DRigid.

virtual 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.

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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).

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The documentation for this class was generated from the following file:

• model2d.h

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Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.