S2VModel Class Reference

Interface for models that convert data from sensor reference frame to vehicle reference frame and vice versa. More...

#include <s2v_model.hpp>

Inheritance diagram for S2VModel:

Collaboration diagram for S2VModel:

Public Member Functions
virtual std::pair< double, double >	wheels_velocities_to_cg (double rl_rpm, double fl_rpm, double rr_rpm, double fr_rpm, double steering_angle)=0
	Calculates the translational and rotational velocities of the vehicle from wheel rotations and steering angle.
virtual common_lib::structures::Position	rear_axis_position (const common_lib::structures::Position &cg, double orientation, double dist_cg_2_rear_axis)=0
	Calculate rear axis coordinates.
virtual Eigen::VectorXd	cg_velocity_to_wheels (const Eigen::Vector3d &cg_velocities)=0
	Estimate wheel and motor velocities, as well as steering angle from the velocities of the center of gravity.
virtual Eigen::MatrixXd	jacobian_cg_velocity_to_wheels (const Eigen::Vector3d &cg_velocities)=0
	jacobian of the function cg_velocity_to_wheels with respect to the velocities of the center of gravity

Detailed Description

Interface for models that convert data from sensor reference frame to vehicle reference frame and vice versa.

Definition at line 12 of file s2v_model.hpp.

Member Function Documentation

cg_velocity_to_wheels()

virtual Eigen::VectorXd S2VModel::cg_velocity_to_wheels ( const Eigen::Vector3d &  cg_velocities )

pure virtual

Estimate wheel and motor velocities, as well as steering angle from the velocities of the center of gravity.

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 vector of wheel speeds, steering angle and motor speed {fl_rpm, fr_rpm, rl_rpm, rr_rpm, steering_angle, motor_rpm}

Implemented in BicycleModel, NoRearWSSBicycleModel, and NoWSSBicycleModel.

jacobian_cg_velocity_to_wheels()

virtual Eigen::MatrixXd S2VModel::jacobian_cg_velocity_to_wheels ( const Eigen::Vector3d &  cg_velocities )

pure virtual

jacobian of the function cg_velocity_to_wheels with respect to the velocities of the center of gravity

Each entry at row i and column j of the resulting matrix is the partial derivative of the i-th element of the output of function cg_velocity_to_wheels with respect to the j-th element of the vector cg_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 the function cg_velocity_to_wheels (dimensions: 6x3)

Implemented in BicycleModel, NoRearWSSBicycleModel, and NoWSSBicycleModel.

rear_axis_position()

virtual common_lib::structures::Position S2VModel::rear_axis_position ( const common_lib::structures::Position &  cg, double  orientation, double  dist_cg_2_rear_axis  )

pure virtual

Calculate rear axis coordinates.

Parameters

cg	center of gravity position
orientation	orientation of the vehicle in radians relative to the world frame (ccw)
dist_cg_2_rear_axis	distance between the center of gravity and the rear axis

Returns

Point

Implemented in BicycleModel, NoRearWSSBicycleModel, and NoWSSBicycleModel.

wheels_velocities_to_cg()

virtual std::pair< double, double > S2VModel::wheels_velocities_to_cg ( double  rl_rpm, double  fl_rpm, double  rr_rpm, double  fr_rpm, double  steering_angle  )

pure virtual

Calculates the translational and rotational velocities of the vehicle from wheel rotations and steering angle.

Parameters

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

Returns

std::pair<double, double> translational velocity, rotational velocity

Implemented in BicycleModel, NoRearWSSBicycleModel, and NoWSSBicycleModel.

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

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