Simple bicycle model structure. More...

#include <bicycle_model.hpp>

Inheritance diagram for BicycleModel:

Collaboration diagram for BicycleModel:

Public Member Functions
	BicycleModel (const std::string &config_path)

	~BicycleModel () override=default

void	step (double dt) override

void	reset () override

double	get_position_x () const override

double	get_position_y () const override

double	get_yaw () const override

double	get_velocity_x () const override

void	set_position (double x, double y, double yaw) override

void	set_velocity (double vx) override

void	set_steering (double angle) override

void	set_throttle (double throttle) override

std::string	get_model_name () const override

	BicycleModel (common_lib::car_parameters::CarParameters car_parameters)

std::pair< double, double >	wheels_velocities_to_cg (double rl_rpm, double fl_rpm, double rr_rpm, double fr_rpm, double steering_angle) override
	assumes a bicycle model and a set of parameters about the vehicle to calculate the velocities of the center of mass given the velocities of the wheels

common_lib::structures::Position	rear_axis_position (const common_lib::structures::Position &cg, double orientation, double dist_cg_2_rear_axis) override
	Calculates the position of the rear axis given the position of the center of mass, the the orientation and the distance between the center of mass and the rear axis.

Eigen::VectorXd	cg_velocity_to_wheels (const Eigen::Vector3d &cg_velocities) override
	Assumes a bicycle model and a set of parameters about the vehicle to calculate the velocities of the wheels given the velocities of the center of mass.

Eigen::MatrixXd	jacobian_cg_velocity_to_wheels (const Eigen::Vector3d &cg_velocities) override
	Calculates the jacobian of the function cg_velocity_to_wheels with respect to the center of mass velocities.

Public Member Functions inherited from VehicleModel
virtual	~VehicleModel ()=default

Private Attributes
double	lr_

double	lf_

double	sf_

double	sr_

double	h_cg_

double	max_steering_angle_

double	Blat_

double	Clat_

double	Dlat_

double	Elat_

double	cla_

double	cda_

double	aero_area_

double	mass_

double	Izz_

double	wheel_radius_

double	gear_ratio_

double	x_

double	y_

double	yaw_

double	vx_

double	steering_angle_

double	throttle_

common_lib::car_parameters::CarParameters	car_parameters_

Detailed Description

Simple bicycle model structure.

Definition at line 13 of file bicycle_model.hpp.

Constructor & Destructor Documentation

◆ BicycleModel() [1/2]

BicycleModel::BicycleModel ( const std::string & config_path )

explicit

Definition at line 3 of file bicycle_model.cpp.

◆ ~BicycleModel()

BicycleModel::~BicycleModel ( )

overridedefault

◆ BicycleModel() [2/2]

BicycleModel::BicycleModel ( common_lib::car_parameters::CarParameters car_parameters )

inline

Definition at line 14 of file bicycle_model.hpp.

Member Function Documentation

◆ cg_velocity_to_wheels()

Eigen::VectorXd BicycleModel::cg_velocity_to_wheels ( const Eigen::Vector3d & cg_velocities )

overridevirtual

Assumes a bicycle model and a set of parameters about the vehicle to calculate the velocities of the wheels given the velocities of the center of mass.

Parameters

cg_velocities vector of velocities on the Center of Gravity {velocity_x, velocity_y, rotational_velocity} in m/s and rad/s respectively

Returns: Eigen::VectorXd rpms of the wheels, the steering angle, and motor rpms {fl_rpm, fr_rpm, rl_rpm, rr_rpm, steering_angle, motor_rpm}

Implements S2VModel.

Here is the caller graph for this function:

◆ get_model_name()

std::string BicycleModel::get_model_name ( ) const

overridevirtual

Implements VehicleModel.

Definition at line 80 of file bicycle_model.cpp.

◆ get_position_x()

double BicycleModel::get_position_x ( ) const

overridevirtual

Implements VehicleModel.

Definition at line 68 of file bicycle_model.cpp.

◆ get_position_y()

double BicycleModel::get_position_y ( ) const

overridevirtual

Implements VehicleModel.

Definition at line 70 of file bicycle_model.cpp.

◆ get_velocity_x()

double BicycleModel::get_velocity_x ( ) const

overridevirtual

Implements VehicleModel.

Definition at line 74 of file bicycle_model.cpp.

◆ get_yaw()

double BicycleModel::get_yaw ( ) const

overridevirtual

Implements VehicleModel.

Definition at line 72 of file bicycle_model.cpp.

◆ jacobian_cg_velocity_to_wheels()

Eigen::MatrixXd BicycleModel::jacobian_cg_velocity_to_wheels ( const Eigen::Vector3d & cg_velocities )

overridevirtual

Calculates the jacobian of the function cg_velocity_to_wheels with respect to the center of mass velocities.

Parameters

cg_velocities vector of velocities on the Center of Gravity {velocity_x, velocity_y, rotational_velocity} in m/s and rad/s respectively

Returns: Eigen::MatrixXd jacobian matrix of dimension 6x3

Implements S2VModel.

Here is the caller graph for this function:

◆ rear_axis_position()

common_lib::structures::Position BicycleModel::rear_axis_position	(	const common_lib::structures::Position &	cg,
		double	orientation,
		double	dist_cg_2_rear_axis
	)

overridevirtual

Calculates the position of the rear axis given the position of the center of mass, the the orientation and the distance between the center of mass and the rear axis.

Parameters

cg	position of the center of mass in meters
orientation	orientation of the vehicle relative to the world frame in radians
dist_cg_2_rear_axis	disntance between the center of mass and the rear axis in meters

Returns: common_lib::structures::Position

Implements S2VModel.

◆ reset()

void BicycleModel::reset ( )

overridevirtual

Implements VehicleModel.

Definition at line 51 of file bicycle_model.cpp.

◆ set_position()

void BicycleModel::set_position	(	double	x,
		double	y,
		double	yaw
	)

overridevirtual

Implements VehicleModel.

Definition at line 60 of file bicycle_model.cpp.

◆ set_steering()

void BicycleModel::set_steering ( double angle )

overridevirtual

Implements VehicleModel.

Definition at line 76 of file bicycle_model.cpp.

◆ set_throttle()

void BicycleModel::set_throttle ( double throttle )

overridevirtual

Implements VehicleModel.

Definition at line 78 of file bicycle_model.cpp.

◆ set_velocity()

void BicycleModel::set_velocity ( double vx )

overridevirtual

Implements VehicleModel.

Definition at line 66 of file bicycle_model.cpp.

◆ step()

void BicycleModel::step ( double dt )

overridevirtual

Implements VehicleModel.

Definition at line 45 of file bicycle_model.cpp.

◆ wheels_velocities_to_cg()

std::pair< double, double > BicycleModel::wheels_velocities_to_cg	(	double	rl_rpm,
		double	fl_rpm,
		double	rr_rpm,
		double	fr_rpm,
		double	steering_angle
	)

overridevirtual

assumes a bicycle model and a set of parameters about the vehicle to calculate the velocities of the center of mass given the velocities of the wheels

Parameters

rl_rpm	rear left wheel velocity in rpm
fl_rpm	front left wheel velocity in rpm
rr_rpm	rear right wheel velocity in rpm
fr_rpm	front right wheel velocity in rpm
steering_angle	steering angle in radians

Returns: std::pair<double, double> translational and rotational velocities of the center of mass in m/s and rad/s respectively

Implements S2VModel.

Here is the caller graph for this function:

Member Data Documentation

◆ aero_area_

double BicycleModel::aero_area_

private

Definition at line 50 of file bicycle_model.hpp.

◆ Blat_

double BicycleModel::Blat_

private

Definition at line 42 of file bicycle_model.hpp.

◆ car_parameters_

common_lib::car_parameters::CarParameters BicycleModel::car_parameters_

private

Definition at line 11 of file bicycle_model.hpp.

◆ cda_

double BicycleModel::cda_

private

Definition at line 49 of file bicycle_model.hpp.

◆ cla_

double BicycleModel::cla_

private

Definition at line 48 of file bicycle_model.hpp.

◆ Clat_

double BicycleModel::Clat_

private

Definition at line 43 of file bicycle_model.hpp.

◆ Dlat_

double BicycleModel::Dlat_

private

Definition at line 44 of file bicycle_model.hpp.

◆ Elat_

double BicycleModel::Elat_

private

Definition at line 45 of file bicycle_model.hpp.

◆ gear_ratio_

double BicycleModel::gear_ratio_

private

Definition at line 58 of file bicycle_model.hpp.

◆ h_cg_

double BicycleModel::h_cg_

private

Definition at line 38 of file bicycle_model.hpp.

◆ Izz_

double BicycleModel::Izz_

private

Definition at line 54 of file bicycle_model.hpp.

◆ lf_

double BicycleModel::lf_

private

Definition at line 35 of file bicycle_model.hpp.

◆ lr_

double BicycleModel::lr_

private

Definition at line 34 of file bicycle_model.hpp.

◆ mass_

double BicycleModel::mass_

private

Definition at line 53 of file bicycle_model.hpp.

◆ max_steering_angle_

double BicycleModel::max_steering_angle_

private

Definition at line 39 of file bicycle_model.hpp.

◆ sf_

double BicycleModel::sf_

private

Definition at line 36 of file bicycle_model.hpp.

◆ sr_

double BicycleModel::sr_

private

Definition at line 37 of file bicycle_model.hpp.

◆ steering_angle_

double BicycleModel::steering_angle_

private

Definition at line 67 of file bicycle_model.hpp.

◆ throttle_

double BicycleModel::throttle_

private

Definition at line 68 of file bicycle_model.hpp.

◆ vx_

double BicycleModel::vx_

private

Definition at line 64 of file bicycle_model.hpp.

◆ wheel_radius_

double BicycleModel::wheel_radius_

private

Definition at line 57 of file bicycle_model.hpp.

◆ x_

double BicycleModel::x_

private

Definition at line 61 of file bicycle_model.hpp.

◆ y_

double BicycleModel::y_

private

Definition at line 62 of file bicycle_model.hpp.

◆ yaw_

double BicycleModel::yaw_

private

Definition at line 63 of file bicycle_model.hpp.

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

src/invictasim/include/vehicle_model/bicycle_model.hpp
src/motion_lib/include/motion_lib/s2v_model/bicycle_model.hpp
src/invictasim/src/vehicle_model/bicycle_model.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BicycleModel() [1/2]

◆ ~BicycleModel()

◆ BicycleModel() [2/2]

Member Function Documentation

◆ cg_velocity_to_wheels()

◆ get_model_name()

◆ get_position_x()

◆ get_position_y()

◆ get_velocity_x()

◆ get_yaw()

◆ jacobian_cg_velocity_to_wheels()

◆ rear_axis_position()

◆ reset()

◆ set_position()

◆ set_steering()

◆ set_throttle()

◆ set_velocity()

◆ step()

◆ wheels_velocities_to_cg()

Member Data Documentation

◆ aero_area_

◆ Blat_

◆ car_parameters_

◆ cda_

◆ cla_

◆ Clat_

◆ Dlat_

◆ Elat_

◆ gear_ratio_

◆ h_cg_

◆ Izz_

◆ lf_

◆ lr_

◆ mass_

◆ max_steering_angle_

◆ sf_

◆ sr_

◆ steering_angle_

◆ throttle_

◆ vx_

◆ wheel_radius_

◆ x_

◆ y_

◆ yaw_