A generic robot model that allows to specify a wheel geometry for multi wheel robots with fixed or non-fixed castor wheels. More...

#include <robot/GenericRobotModel.h>

Inheritance diagram for GenericRobotModel:

[legend]

Public Types
typedef std::list< LinkPtr >	LinkList

typedef std::map< std::string, JointPtr >	JointMap

typedef std::map< std::string, MaterialPtr >	MaterialMap

typedef std::list< std::pair< GeometryPtr, RigidTransform3f >, Eigen::aligned_allocator< std::pair< GeometryPtr, RigidTransform3f > > >	CollisionGeometries

Public Member Functions
template<typename Reflector >
void	reflect (Reflector &r)

Velocity2	computeRobotVelocity (const Eigen::Matrix< float, Eigen::Dynamic, 2 > &castorWheelState)
	Computes the robots overall velocity from the readings of its wheels. More...

virtual Pose2	localKinematics (const Velocity2 &v, float dt) const
	Implementation of RobotModel. More...

virtual float	predictStandstillDistance (const Velocity2 &v) const
	Implementation of RobotModel. More...

virtual float	predictStandstillRotation (const Velocity2 &v) const
	Calculate the rotation that is needed for braking to stand still, if the robot moves with the specified velocity v. More...

virtual PoseVelocityTrajectory	generateTrajectory (Velocity2 v, const Velocity2 &targetV, float lookAheadTime, int samples)
	Generates a trajectory by accelerating/decelerating starting at velocity v for lookAheadTime time up to the velocity targetV. More...

Pose2	globalKinematics (const Velocity2 &v, float dt, const Pose2 &p0) const
	Computes the movement of the robot if it moves with the specified velocity v for the specified time dt. More...

void	reflect (XMLDeserializer &r)

void	clear ()

std::string	getRootLink () const

CollisionGeometries	getCollisionGeometries (std::string targetFrame="", const Time &timestamp=Time::now(), const std::string &filter="") const

std::list< Box3f >	getCollisionBoundingBoxes (std::string targetFrame="", const Time &timestamp=Time::now(), const std::string &filter="") const

Footprint	getFootprint (std::string targetFrame="", const Time &timestamp=Time::now(), const std::string &filter="") const

void	resolveAndPublishLinks (const std::string &ns, const Time &timestamp=Time::now())

void	publishJoint (const std::string &name, float value, const Time &timestamp=Time::now()) const

Class const &	getClass () const

Static Public Member Functions
static PseudoClass const &	CLASS ()

Public Attributes
std::vector< Pose2 >	wheelGeometry
	The position of each wheel relative to the robots base. More...

std::string	name

LinkList	links

JointMap	joints

MaterialMap	materials

Protected Member Functions
virtual Class const &	internalGetClass () const=0

Detailed Description

A generic robot model that allows to specify a wheel geometry for multi wheel robots with fixed or non-fixed castor wheels.

For a special optimized implementation for robots with a differential drive please use DifferentialRobotModel.

Member Function Documentation

◆ reflect()

void reflect ( Reflector & r )

inline

◆ computeRobotVelocity()

Velocity2 computeRobotVelocity ( const Eigen::Matrix< float, Eigen::Dynamic, 2 > & castorWheelState )

Computes the robots overall velocity from the readings of its wheels.

Each row represents the state of a single wheel. First column contains the velocity of that wheel. Second column contains the orientation of that wheel. For castor wheels orientation will change while driving. For fixed wheels orientation will most likely be fixed.

◆ localKinematics()

virtual Pose2 localKinematics	(	const Velocity2 &	v,
		float	dt
	)		const

virtual

Implementation of RobotModel.

Implements RobotModel.

◆ predictStandstillDistance()

virtual float predictStandstillDistance ( const Velocity2 & v ) const

virtual

Implementation of RobotModel.

Implements RobotModel.

◆ predictStandstillRotation()

virtual float predictStandstillRotation ( const Velocity2 & v ) const

virtual

Calculate the rotation that is needed for braking to stand still, if the robot moves with the specified velocity v.

Parameters

[in] v The current velocity.

Returns: The estimated stopping rotation.

Implements RobotModel.

◆ generateTrajectory()

virtual PoseVelocityTrajectory generateTrajectory	(	Velocity2	v,
		const Velocity2 &	targetV,
		float	lookAheadTime,
		int	samples
	)

virtual

Generates a trajectory by accelerating/decelerating starting at velocity v for lookAheadTime time up to the velocity targetV.

The resulting trajectory will contain samples+1 trajectory samples starting at position 0,0 with velocity v. It uses the acceleration limits given in the robot model.

Implements RobotModel.

◆ globalKinematics()

Pose2 globalKinematics	(	const Velocity2 &	v,
		float	dt,
		const Pose2 &	p0
	)		const

inlineinherited

Computes the movement of the robot if it moves with the specified velocity v for the specified time dt.

The movement is returned as pose in relation to the specified pose p0.

Parameters

[in]	v	The velocity of the robot.
[in]	dt	The delta time.
[in]	p0	The original pose.

Returns: The movement as a pose in relative to pose p0.

Member Data Documentation

◆ wheelGeometry

std::vector<Pose2> wheelGeometry

The position of each wheel relative to the robots base.

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

include/robot/GenericRobotModel.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Function Documentation

◆ reflect()

◆ computeRobotVelocity()

◆ localKinematics()

◆ predictStandstillDistance()

◆ predictStandstillRotation()

◆ generateTrajectory()

◆ globalKinematics()

Member Data Documentation

◆ wheelGeometry