NoWSSBicycleModel Class Reference

#include <no_wss_bicycle_model.hpp>

Inheritance diagram for NoWSSBicycleModel:

Collaboration diagram for NoWSSBicycleModel:

Public Member Functions
	NoWSSBicycleModel (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.

Private Attributes
common_lib::car_parameters::CarParameters	car_parameters_

Detailed Description

Definition at line 10 of file no_wss_bicycle_model.hpp.

Constructor & Destructor Documentation

NoWSSBicycleModel()

NoWSSBicycleModel::NoWSSBicycleModel ( common_lib::car_parameters::CarParameters  car_parameters )

inline

Definition at line 14 of file no_wss_bicycle_model.hpp.

Member Function Documentation

cg_velocity_to_wheels()

Eigen::VectorXd NoWSSBicycleModel::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, steering_angle, motor_rpm}

Implements S2VModel.

jacobian_cg_velocity_to_wheels()

Eigen::MatrixXd NoWSSBicycleModel::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.

rear_axis_position()

common_lib::structures::Position NoWSSBicycleModel::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.

wheels_velocities_to_cg()

std::pair< double, double > NoWSSBicycleModel::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
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.

Member Data Documentation

car_parameters_

common_lib::car_parameters::CarParameters NoWSSBicycleModel::car_parameters_

private

Definition at line 11 of file no_wss_bicycle_model.hpp.

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

• src/motion_lib/include/motion_lib/s2v_model/no_wss_bicycle_model.hpp