#include <VehicleModelBicycle.hpp>

Inheritance diagram for VehicleModelBicycle:

Collaboration diagram for VehicleModelBicycle:

Classes
struct	AerodynamicsModel

struct	PowertrainModel

struct	SteeringModel

struct	TireModel

Public Member Functions
	VehicleModelBicycle ()

bool	readConfig (ConfigElement &config) override

Eigen::Vector3d	getPosition () override

Eigen::Vector3d	getOrientation () override

Eigen::Vector3d	getVelocity () override

Eigen::Vector3d	getAcceleration () override

Eigen::Vector3d	getAngularVelocity () override

Eigen::Vector3d	getAngularAcceleration () override

Wheels	getSteeringAngles () override

double	getSteeringWheelAngle () override

double	getVoltageTS () override

double	getCurrentTS () override

Wheels	getWheelspeeds () override

Wheels	getWheelOrientations () override

Wheels	getTorques () override

void	setTorques (Wheels in) override

void	setRpmSetpoints (Wheels in) override

void	setMaxTorques (Wheels in) override

void	setMinTorques (Wheels in) override

void	setSteeringSetpointFront (double in) override

void	setSteeringSetpointRear (double in) override

void	setThrottle (Wheels in) override

void	setPowerGroundSetpoint (double in) override

void	setPosition (Eigen::Vector3d position) override

void	setOrientation (Eigen::Vector3d orientation) override

void	forwardIntegrate (double dt) override

std::array< Eigen::Vector3d, 4 >	getWheelPositions () override

const AerodynamicsModel &	getAeroModel () const

const void	getLongitudinalForces (double &Fx_FL, double &Fx_FR, double &Fx_RL, double &Fx_RR) const

const PowertrainModel &	getPowertrainModel () const

const void	getNormalForces (double &Fz_Front, double &Fz_Rear) const

const void	getSlipAngles (double &kappaFront, double &kappaRear) const

const SteeringModel &	getSteeringModel () const

const void	getWheelGeometry (double &steeringFront, Eigen::Vector3d &rFL, Eigen::Vector3d &rFR, Eigen::Vector3d &rRL, Eigen::Vector3d &rRR, Eigen::Vector3d &rFront, Eigen::Vector3d &rRear, Eigen::Vector3d &vFL, Eigen::Vector3d &vFR, Eigen::Vector3d &vRL, Eigen::Vector3d &vRR) const

const Eigen::Vector3d	getCalculateAccelerations (double steeringFront, double Fx_FL, double Fx_FR, double Fx_RL, double Fx_RR, double Fy_Front, double Fy_Rear, double drag, const Eigen::Vector3d &friction) const

Eigen::Vector3d	getGetDynamicStates (double dt)

void	setVelocity (const Eigen::Vector3d &vel)

void	setWheelSpeedsTester (const Eigen::Vector3d &vFL, const Eigen::Vector3d &vFR, const Eigen::Vector3d &vRL, const Eigen::Vector3d &vRR)

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

Static Public Attributes
static constexpr double	GRAVITY = 9.81

static constexpr double	ROLLING_RESISTANCE_COEFF = 0.015

static constexpr double	AIR_DENSITY = 1.29

static constexpr double	VELOCITY_THRESHOLD = 0.1

static constexpr double	ANGULAR_VELOCITY_THRESHOLD = 0.001

static constexpr double	TORQUE_THRESHOLD = 0.5

static constexpr double	VELOCITY_MIN_THRESHOLD = 0.3

static constexpr double	TWO_PI = 2.0 * M_PI

Private Member Functions
void	calculateWheelGeometry (double &steeringFront, Eigen::Vector3d &rFL, Eigen::Vector3d &rFR, Eigen::Vector3d &rRL, Eigen::Vector3d &rRR, Eigen::Vector3d &rFront, Eigen::Vector3d &rRear, Eigen::Vector3d &vFL, Eigen::Vector3d &vFR, Eigen::Vector3d &vRL, Eigen::Vector3d &vRR) const

void	calculateLongitudinalForces (double &Fx_FL, double &Fx_FR, double &Fx_RL, double &Fx_RR) const

Eigen::Vector3d	calculateAccelerations (double steeringFront, double Fx_FL, double Fx_FR, double Fx_RL, double Fx_RR, double Fy_Front, double Fy_Rear, double drag, const Eigen::Vector3d &friction) const

void	updateWheelSpeeds (const Eigen::Vector3d &vFL, const Eigen::Vector3d &vFR, const Eigen::Vector3d &vRL, const Eigen::Vector3d &vRR)

Eigen::Vector3d	getDynamicStates (double dt)

void	calculateNormalForces (double &Fz_Front, double &Fz_Rear) const

void	calculateWeightTransfer (double &Fz_Front, double &Fz_Rear, double &Fx_FL, double &Fx_FR, double &Fx_RL, double &Fx_RR) const

void	calculateSlipAngles (double &kappaFront, double &kappaRear) const

void	updateWheelSpeeds (double dt)

double	processSlipAngleLat (double alpha_input, double Fz)

Private Attributes
Eigen::Vector3d	position = Eigen::Vector3d::Zero()

Eigen::Vector3d	orientation = Eigen::Vector3d::Zero()

Eigen::Vector3d	velocity = Eigen::Vector3d::Zero()

Eigen::Vector3d	angularVelocity = Eigen::Vector3d::Zero()

Eigen::Vector3d	acceleration = Eigen::Vector3d::Zero()

Eigen::Vector3d	angularAcceleration = Eigen::Vector3d::Zero()

Wheels	steeringAngles = {0.0, 0.0, 0.0, 0.0, 0.0}

Wheels	wheelspeeds = {0.0, 0.0, 0.0, 0.0, 0.0}

Wheels	wheelOrientations = {0.0, 0.0, 0.0, 0.0, 0.0}

Wheels	torques = {0.0, 0.0, 0.0, 0.0, 0.0}

Wheels	rpmSetpoints = {0.0, 0.0, 0.0, 0.0, 0.0}

Wheels	maxTorques = {0.0, 0.0, 0.0, 0.0, 0.0}

Wheels	minTorques = {0.0, 0.0, 0.0, 0.0, 0.0}

double	throttleActuationFL = 0.0

double	throttleActuationFR = 0.0

double	throttleActuationRL = 0.0

double	throttleActuationRR = 0.0

double	powerGroundSetpoint = 0.0

double	lf

double	lr

double	sf

double	sr

double	m

double	Izz

double	h_cg

AerodynamicsModel	aeroModel

TireModel	tireModel

PowertrainModel	powertrainModel

SteeringModel	steeringModel

Detailed Description

Definition at line 7 of file VehicleModelBicycle.hpp.

Constructor & Destructor Documentation

◆ VehicleModelBicycle()

VehicleModelBicycle::VehicleModelBicycle ( )

Definition at line 10 of file VehicleModelBicycle.cpp.

Member Function Documentation

◆ calculateAccelerations()

Eigen::Vector3d VehicleModelBicycle::calculateAccelerations	(	double	steeringFront,
		double	Fx_FL,
		double	Fx_FR,
		double	Fx_RL,
		double	Fx_RR,
		double	Fy_Front,
		double	Fy_Rear,
		double	drag,
		const Eigen::Vector3d &	friction
	)		const

private

Definition at line 384 of file VehicleModelBicycle.cpp.

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◆ calculateLongitudinalForces()

void VehicleModelBicycle::calculateLongitudinalForces	(	double &	Fx_FL,
		double &	Fx_FR,
		double &	Fx_RL,
		double &	Fx_RR
	)		const

private

Definition at line 362 of file VehicleModelBicycle.cpp.

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◆ calculateNormalForces()

void VehicleModelBicycle::calculateNormalForces	(	double &	Fz_Front,
		double &	Fz_Rear
	)		const

private

Definition at line 261 of file VehicleModelBicycle.cpp.

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◆ calculateSlipAngles()

void VehicleModelBicycle::calculateSlipAngles	(	double &	kappaFront,
		double &	kappaRear
	)		const

private

It seems like this isn't needed anymore with the approach of applying friction to the opposite of the velocity vector instead of Vx only. Drag also applied opposite of Vx instead of simply adding the negative value.

Definition at line 301 of file VehicleModelBicycle.cpp.

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◆ calculateWeightTransfer()

void VehicleModelBicycle::calculateWeightTransfer	(	double &	Fz_Front,
		double &	Fz_Rear,
		double &	Fx_FL,
		double &	Fx_FR,
		double &	Fx_RL,
		double &	Fx_RR
	)		const

private

Definition at line 286 of file VehicleModelBicycle.cpp.

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◆ calculateWheelGeometry()

void VehicleModelBicycle::calculateWheelGeometry	(	double &	steeringFront,
		Eigen::Vector3d &	rFL,
		Eigen::Vector3d &	rFR,
		Eigen::Vector3d &	rRL,
		Eigen::Vector3d &	rRR,
		Eigen::Vector3d &	rFront,
		Eigen::Vector3d &	rRear,
		Eigen::Vector3d &	vFL,
		Eigen::Vector3d &	vFR,
		Eigen::Vector3d &	vRL,
		Eigen::Vector3d &	vRR
	)		const

private

Definition at line 336 of file VehicleModelBicycle.cpp.

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◆ forwardIntegrate()

void VehicleModelBicycle::forwardIntegrate ( double dt )

overridevirtual

Implements IVehicleModel.

Definition at line 487 of file VehicleModelBicycle.cpp.

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◆ getAcceleration()

Eigen::Vector3d VehicleModelBicycle::getAcceleration ( )

overridevirtual

Implements IVehicleModel.

Definition at line 62 of file VehicleModelBicycle.cpp.

◆ getAeroModel()

const AerodynamicsModel & VehicleModelBicycle::getAeroModel ( ) const

inline

Definition at line 268 of file VehicleModelBicycle.hpp.

◆ getAngularAcceleration()

Eigen::Vector3d VehicleModelBicycle::getAngularAcceleration ( )

overridevirtual

Implements IVehicleModel.

Definition at line 66 of file VehicleModelBicycle.cpp.

◆ getAngularVelocity()

Eigen::Vector3d VehicleModelBicycle::getAngularVelocity ( )

overridevirtual

Implements IVehicleModel.

Definition at line 64 of file VehicleModelBicycle.cpp.

◆ getCalculateAccelerations()

const Eigen::Vector3d VehicleModelBicycle::getCalculateAccelerations	(	double	steeringFront,
		double	Fx_FL,
		double	Fx_FR,
		double	Fx_RL,
		double	Fx_RR,
		double	Fy_Front,
		double	Fy_Rear,
		double	drag,
		const Eigen::Vector3d &	friction
	)		const

inline

Definition at line 287 of file VehicleModelBicycle.hpp.

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◆ getCurrentTS()

double VehicleModelBicycle::getCurrentTS ( )

overridevirtual

Implements IVehicleModel.

Definition at line 76 of file VehicleModelBicycle.cpp.

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◆ getDynamicStates()

Eigen::Vector3d VehicleModelBicycle::getDynamicStates ( double dt )

private

Definition at line 434 of file VehicleModelBicycle.cpp.

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◆ getGetDynamicStates()

Eigen::Vector3d VehicleModelBicycle::getGetDynamicStates ( double dt )

inline

Definition at line 293 of file VehicleModelBicycle.hpp.

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◆ getLongitudinalForces()

const void VehicleModelBicycle::getLongitudinalForces	(	double &	Fx_FL,
		double &	Fx_FR,
		double &	Fx_RL,
		double &	Fx_RR
	)		const

inline

Definition at line 269 of file VehicleModelBicycle.hpp.

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◆ getNormalForces()

const void VehicleModelBicycle::getNormalForces	(	double &	Fz_Front,
		double &	Fz_Rear
	)		const

inline

Definition at line 271 of file VehicleModelBicycle.hpp.

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◆ getOrientation()

Eigen::Vector3d VehicleModelBicycle::getOrientation ( )

overridevirtual

Implements IVehicleModel.

Definition at line 58 of file VehicleModelBicycle.cpp.

◆ getPosition()

Eigen::Vector3d VehicleModelBicycle::getPosition ( )

overridevirtual

Implements IVehicleModel.

Definition at line 56 of file VehicleModelBicycle.cpp.

◆ getPowertrainModel()

const PowertrainModel & VehicleModelBicycle::getPowertrainModel ( ) const

inline

Definition at line 270 of file VehicleModelBicycle.hpp.

◆ getSlipAngles()

const void VehicleModelBicycle::getSlipAngles	(	double &	kappaFront,
		double &	kappaRear
	)		const

inline

Definition at line 272 of file VehicleModelBicycle.hpp.

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◆ getSteeringAngles()

Wheels VehicleModelBicycle::getSteeringAngles ( )

overridevirtual

Implements IVehicleModel.

Definition at line 68 of file VehicleModelBicycle.cpp.

◆ getSteeringModel()

const SteeringModel & VehicleModelBicycle::getSteeringModel ( ) const

inline

Definition at line 274 of file VehicleModelBicycle.hpp.

◆ getSteeringWheelAngle()

double VehicleModelBicycle::getSteeringWheelAngle ( )

overridevirtual

Implements IVehicleModel.

Definition at line 70 of file VehicleModelBicycle.cpp.

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◆ getTorques()

Wheels VehicleModelBicycle::getTorques ( )

overridevirtual

Implements IVehicleModel.

Definition at line 84 of file VehicleModelBicycle.cpp.

◆ getVelocity()

Eigen::Vector3d VehicleModelBicycle::getVelocity ( )

overridevirtual

Implements IVehicleModel.

Definition at line 60 of file VehicleModelBicycle.cpp.

◆ getVoltageTS()

double VehicleModelBicycle::getVoltageTS ( )

overridevirtual

Implements IVehicleModel.

Definition at line 74 of file VehicleModelBicycle.cpp.

◆ getWheelGeometry()

const void VehicleModelBicycle::getWheelGeometry	(	double &	steeringFront,
		Eigen::Vector3d &	rFL,
		Eigen::Vector3d &	rFR,
		Eigen::Vector3d &	rRL,
		Eigen::Vector3d &	rRR,
		Eigen::Vector3d &	rFront,
		Eigen::Vector3d &	rRear,
		Eigen::Vector3d &	vFL,
		Eigen::Vector3d &	vFR,
		Eigen::Vector3d &	vRL,
		Eigen::Vector3d &	vRR
	)		const

inline

Definition at line 276 of file VehicleModelBicycle.hpp.

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◆ getWheelOrientations()

Wheels VehicleModelBicycle::getWheelOrientations ( )

overridevirtual

Implements IVehicleModel.

Definition at line 82 of file VehicleModelBicycle.cpp.

◆ getWheelPositions()

std::array< Eigen::Vector3d, 4 > VehicleModelBicycle::getWheelPositions ( )

overridevirtual

Implements IVehicleModel.

Definition at line 527 of file VehicleModelBicycle.cpp.

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◆ getWheelspeeds()

Wheels VehicleModelBicycle::getWheelspeeds ( )

overridevirtual

Implements IVehicleModel.

Definition at line 80 of file VehicleModelBicycle.cpp.

◆ processSlipAngleLat()

double VehicleModelBicycle::processSlipAngleLat	(	double	alpha_input,
		double	Fz
	)

private

Definition at line 119 of file VehicleModelBicycle.cpp.

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◆ readConfig()

bool VehicleModelBicycle::readConfig ( ConfigElement & config )

overridevirtual

Implements IVehicleModel.

Definition at line 17 of file VehicleModelBicycle.cpp.

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◆ setMaxTorques()

void VehicleModelBicycle::setMaxTorques ( Wheels in )

overridevirtual

Implements IVehicleModel.

Definition at line 90 of file VehicleModelBicycle.cpp.

◆ setMinTorques()

void VehicleModelBicycle::setMinTorques ( Wheels in )

overridevirtual

Implements IVehicleModel.

Definition at line 92 of file VehicleModelBicycle.cpp.

◆ setOrientation()

void VehicleModelBicycle::setOrientation ( Eigen::Vector3d orientation )

overridevirtual

Implements IVehicleModel.

Definition at line 115 of file VehicleModelBicycle.cpp.

◆ setPosition()

void VehicleModelBicycle::setPosition ( Eigen::Vector3d position )

overridevirtual

Implements IVehicleModel.

Definition at line 113 of file VehicleModelBicycle.cpp.

◆ setPowerGroundSetpoint()

void VehicleModelBicycle::setPowerGroundSetpoint ( double in )

overridevirtual

Implements IVehicleModel.

Definition at line 109 of file VehicleModelBicycle.cpp.

◆ setRpmSetpoints()

void VehicleModelBicycle::setRpmSetpoints ( Wheels in )

overridevirtual

Implements IVehicleModel.

Definition at line 88 of file VehicleModelBicycle.cpp.

◆ setSteeringSetpointFront()

void VehicleModelBicycle::setSteeringSetpointFront ( double in )

overridevirtual

Implements IVehicleModel.

Definition at line 94 of file VehicleModelBicycle.cpp.

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◆ setSteeringSetpointRear()

void VehicleModelBicycle::setSteeringSetpointRear ( double in )

overridevirtual

Implements IVehicleModel.

Definition at line 98 of file VehicleModelBicycle.cpp.

◆ setThrottle()

void VehicleModelBicycle::setThrottle ( Wheels in )

overridevirtual

Implements IVehicleModel.

Definition at line 102 of file VehicleModelBicycle.cpp.

◆ setTorques()

void VehicleModelBicycle::setTorques ( Wheels in )

overridevirtual

Implements IVehicleModel.

Definition at line 86 of file VehicleModelBicycle.cpp.

◆ setVelocity()

void VehicleModelBicycle::setVelocity ( const Eigen::Vector3d & vel )

inline

Definition at line 298 of file VehicleModelBicycle.hpp.

◆ setWheelSpeedsTester()

void VehicleModelBicycle::setWheelSpeedsTester	(	const Eigen::Vector3d &	vFL,
		const Eigen::Vector3d &	vFR,
		const Eigen::Vector3d &	vRL,
		const Eigen::Vector3d &	vRR
	)

inline

Definition at line 300 of file VehicleModelBicycle.hpp.

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◆ updateWheelSpeeds() [1/2]

void VehicleModelBicycle::updateWheelSpeeds	(	const Eigen::Vector3d &	vFL,
		const Eigen::Vector3d &	vFR,
		const Eigen::Vector3d &	vRL,
		const Eigen::Vector3d &	vRR
	)

private

Definition at line 420 of file VehicleModelBicycle.cpp.

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◆ updateWheelSpeeds() [2/2]

void VehicleModelBicycle::updateWheelSpeeds ( double dt )

private

Member Data Documentation

◆ acceleration

Eigen::Vector3d VehicleModelBicycle::acceleration = Eigen::Vector3d::Zero()

private

Definition at line 234 of file VehicleModelBicycle.hpp.

◆ aeroModel

AerodynamicsModel VehicleModelBicycle::aeroModel

private

Definition at line 261 of file VehicleModelBicycle.hpp.

◆ AIR_DENSITY

constexpr double VehicleModelBicycle::AIR_DENSITY = 1.29

staticconstexpr

Definition at line 13 of file VehicleModelBicycle.hpp.

◆ ANGULAR_VELOCITY_THRESHOLD

constexpr double VehicleModelBicycle::ANGULAR_VELOCITY_THRESHOLD = 0.001

staticconstexpr

Definition at line 17 of file VehicleModelBicycle.hpp.

◆ angularAcceleration

Eigen::Vector3d VehicleModelBicycle::angularAcceleration = Eigen::Vector3d::Zero()

private

Definition at line 235 of file VehicleModelBicycle.hpp.

◆ angularVelocity

Eigen::Vector3d VehicleModelBicycle::angularVelocity = Eigen::Vector3d::Zero()

private

Definition at line 233 of file VehicleModelBicycle.hpp.

◆ GRAVITY

constexpr double VehicleModelBicycle::GRAVITY = 9.81

staticconstexpr

Definition at line 11 of file VehicleModelBicycle.hpp.

◆ h_cg

double VehicleModelBicycle::h_cg

private

Definition at line 258 of file VehicleModelBicycle.hpp.

◆ Izz

double VehicleModelBicycle::Izz

private

Definition at line 257 of file VehicleModelBicycle.hpp.

◆ lf

double VehicleModelBicycle::lf

private

Definition at line 254 of file VehicleModelBicycle.hpp.

◆ lr

double VehicleModelBicycle::lr

private

Definition at line 254 of file VehicleModelBicycle.hpp.

◆ m

double VehicleModelBicycle::m

private

Definition at line 256 of file VehicleModelBicycle.hpp.

◆ maxTorques

Wheels VehicleModelBicycle::maxTorques = {0.0, 0.0, 0.0, 0.0, 0.0}

private

Definition at line 243 of file VehicleModelBicycle.hpp.

◆ minTorques

Wheels VehicleModelBicycle::minTorques = {0.0, 0.0, 0.0, 0.0, 0.0}

private

Definition at line 244 of file VehicleModelBicycle.hpp.

◆ orientation

Eigen::Vector3d VehicleModelBicycle::orientation = Eigen::Vector3d::Zero()

private

Definition at line 231 of file VehicleModelBicycle.hpp.

◆ position

Eigen::Vector3d VehicleModelBicycle::position = Eigen::Vector3d::Zero()

private

Definition at line 230 of file VehicleModelBicycle.hpp.

◆ powerGroundSetpoint

double VehicleModelBicycle::powerGroundSetpoint = 0.0

private

Definition at line 251 of file VehicleModelBicycle.hpp.

◆ powertrainModel

PowertrainModel VehicleModelBicycle::powertrainModel

private

Definition at line 263 of file VehicleModelBicycle.hpp.

◆ ROLLING_RESISTANCE_COEFF

constexpr double VehicleModelBicycle::ROLLING_RESISTANCE_COEFF = 0.015

staticconstexpr

Definition at line 12 of file VehicleModelBicycle.hpp.

◆ rpmSetpoints

Wheels VehicleModelBicycle::rpmSetpoints = {0.0, 0.0, 0.0, 0.0, 0.0}

private

Definition at line 242 of file VehicleModelBicycle.hpp.

◆ sf

double VehicleModelBicycle::sf

private

Definition at line 255 of file VehicleModelBicycle.hpp.

◆ sr

double VehicleModelBicycle::sr

private

Definition at line 255 of file VehicleModelBicycle.hpp.

◆ steeringAngles

Wheels VehicleModelBicycle::steeringAngles = {0.0, 0.0, 0.0, 0.0, 0.0}

private

Definition at line 238 of file VehicleModelBicycle.hpp.

◆ steeringModel

SteeringModel VehicleModelBicycle::steeringModel

private

Definition at line 264 of file VehicleModelBicycle.hpp.

◆ throttleActuationFL

double VehicleModelBicycle::throttleActuationFL = 0.0

private

Definition at line 247 of file VehicleModelBicycle.hpp.

◆ throttleActuationFR

double VehicleModelBicycle::throttleActuationFR = 0.0

private

Definition at line 248 of file VehicleModelBicycle.hpp.

◆ throttleActuationRL

double VehicleModelBicycle::throttleActuationRL = 0.0

private

Definition at line 249 of file VehicleModelBicycle.hpp.

◆ throttleActuationRR

double VehicleModelBicycle::throttleActuationRR = 0.0

private

Definition at line 250 of file VehicleModelBicycle.hpp.

◆ tireModel

TireModel VehicleModelBicycle::tireModel

private

Definition at line 262 of file VehicleModelBicycle.hpp.

◆ TORQUE_THRESHOLD

constexpr double VehicleModelBicycle::TORQUE_THRESHOLD = 0.5

staticconstexpr

Definition at line 18 of file VehicleModelBicycle.hpp.

◆ torques

Wheels VehicleModelBicycle::torques = {0.0, 0.0, 0.0, 0.0, 0.0}

private

Definition at line 241 of file VehicleModelBicycle.hpp.

◆ TWO_PI

constexpr double VehicleModelBicycle::TWO_PI = 2.0 * M_PI

staticconstexpr

Definition at line 22 of file VehicleModelBicycle.hpp.

◆ velocity

Eigen::Vector3d VehicleModelBicycle::velocity = Eigen::Vector3d::Zero()

private

Definition at line 232 of file VehicleModelBicycle.hpp.

◆ VELOCITY_MIN_THRESHOLD

constexpr double VehicleModelBicycle::VELOCITY_MIN_THRESHOLD = 0.3

staticconstexpr

Definition at line 19 of file VehicleModelBicycle.hpp.

◆ VELOCITY_THRESHOLD

constexpr double VehicleModelBicycle::VELOCITY_THRESHOLD = 0.1

staticconstexpr

Definition at line 16 of file VehicleModelBicycle.hpp.

◆ wheelOrientations

Wheels VehicleModelBicycle::wheelOrientations = {0.0, 0.0, 0.0, 0.0, 0.0}

private

Definition at line 240 of file VehicleModelBicycle.hpp.

◆ wheelspeeds

Wheels VehicleModelBicycle::wheelspeeds = {0.0, 0.0, 0.0, 0.0, 0.0}

private

Definition at line 239 of file VehicleModelBicycle.hpp.

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

src/pacsim/include/VehicleModel/VehicleModelBicycle.hpp
src/pacsim/src/VehicleModel/VehicleModelBicycle.cpp

Classes

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VehicleModelBicycle()

Member Function Documentation

◆ calculateAccelerations()

◆ calculateLongitudinalForces()

◆ calculateNormalForces()

◆ calculateSlipAngles()

◆ calculateWeightTransfer()

◆ calculateWheelGeometry()

◆ forwardIntegrate()

◆ getAcceleration()

◆ getAeroModel()

◆ getAngularAcceleration()

◆ getAngularVelocity()

◆ getCalculateAccelerations()

◆ getCurrentTS()

◆ getDynamicStates()

◆ getGetDynamicStates()

◆ getLongitudinalForces()

◆ getNormalForces()

◆ getOrientation()

◆ getPosition()

◆ getPowertrainModel()

◆ getSlipAngles()

◆ getSteeringAngles()

◆ getSteeringModel()

◆ getSteeringWheelAngle()

◆ getTorques()

◆ getVelocity()

◆ getVoltageTS()

◆ getWheelGeometry()

◆ getWheelOrientations()

◆ getWheelPositions()

◆ getWheelspeeds()

◆ processSlipAngleLat()

◆ readConfig()

◆ setMaxTorques()

◆ setMinTorques()

◆ setOrientation()

◆ setPosition()

◆ setPowerGroundSetpoint()

◆ setRpmSetpoints()

◆ setSteeringSetpointFront()

◆ setSteeringSetpointRear()

◆ setThrottle()

◆ setTorques()

◆ setVelocity()

◆ setWheelSpeedsTester()

◆ updateWheelSpeeds() [1/2]

◆ updateWheelSpeeds() [2/2]

Member Data Documentation

◆ acceleration

◆ aeroModel

◆ AIR_DENSITY

◆ ANGULAR_VELOCITY_THRESHOLD

◆ angularAcceleration

◆ angularVelocity

◆ GRAVITY

◆ h_cg

◆ Izz

◆ lf

◆ lr

◆ m

◆ maxTorques

◆ minTorques

◆ orientation

◆ position

◆ powerGroundSetpoint

◆ powertrainModel

◆ ROLLING_RESISTANCE_COEFF

◆ rpmSetpoints

◆ sf

◆ sr

◆ steeringAngles