#include <robot/UnicycleBasedRobotModel.h>

Inheritance diagram for UnicycleBasedRobotModel:

[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	reflectDegrees (Reflector &r, const char name, float &member, const char comment)

void	reflectDegrees (PropertySerializer &r, const char name, float &member, const char comment)

template<typename Reflector >
void	reflect (Reflector &r)

float	getMaxTransVelocity () const

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...

virtual Pose2	localKinematics (const Velocity2 &v, float dt) const =0
	Computes the local movement of the robot if it moves with the specified velocity v for the specified time dt. 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...

virtual float	predictStandstillDistance (const Velocity2 &v) const =0
	Calculate the distance that is needed for braking to stand still, if the robot moves with the specified velocity v. More...

virtual float	predictStandstillRotation (const Velocity2 &v) const =0
	Calculate the rotation that is needed for braking to stand still, if the robot moves with the specified velocity v. 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
float	maxBackwardVelocity
	The maximum velocity for driving backward (both wheels) [m/s]. More...

float	maxForwardVelocity
	The maximum velocity for driving forward (both wheels) [m/s]. More...

float	maxRotVelocity
	The maximum velocity for rotating [deg/s]. More...

float	transEpsilonVelocity
	the min. More...

float	rotEpsilonVelocity

float	maxTransAcceleration
	Max. acceleration. More...

float	maxTransDeceleration
	Max. deceleration. Must be greater than zero. More...

float	maxEmergencyDeceleration
	Max. deceleration in case of an emergency. Must be greater than zero. More...

float	maxRotAcceleration
	Max. acceleration. More...

float	maxRotDeceleration
	Max. deceleration. Must be greater than zero. More...

std::string	name

LinkList	links

JointMap	joints

MaterialMap	materials

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

Member Function Documentation

◆ reflectDegrees() [1/2]

void reflectDegrees	(	Reflector &	r,
		const char *	name,
		float &	member,
		const char *	comment
	)

inline

◆ reflectDegrees() [2/2]

void reflectDegrees	(	PropertySerializer &	r,
		const char *	name,
		float &	member,
		const char *	comment
	)

inline

◆ reflect()

void reflect ( Reflector & r )

inline

◆ getMaxTransVelocity()

float getMaxTransVelocity ( ) const

inline

◆ 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.

◆ localKinematics()

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

pure virtualinherited

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

The movement is returned as relative pose in relation to the robots movement center, which is assumed to be (0,0,0).

Parameters

[in]	v	The measured velocity.
[in]	dt	The time interval in [s]. It must be >= 0.0f.

Returns: The delta pose.

Implemented in DifferentialRobotModel, and GenericRobotModel.

◆ 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.

◆ predictStandstillDistance()

virtual float predictStandstillDistance ( const Velocity2 & v ) const

pure virtualinherited

Calculate the distance 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 distance.

Implemented in DifferentialRobotModel, and GenericRobotModel.

◆ predictStandstillRotation()

virtual float predictStandstillRotation ( const Velocity2 & v ) const

pure virtualinherited

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.

Implemented in DifferentialRobotModel, and GenericRobotModel.

Member Data Documentation

◆ maxBackwardVelocity

float maxBackwardVelocity

The maximum velocity for driving backward (both wheels) [m/s].

Use negative values, if the robot is allowed to drive backward.

◆ maxForwardVelocity

float maxForwardVelocity

The maximum velocity for driving forward (both wheels) [m/s].

◆ maxRotVelocity

float maxRotVelocity

The maximum velocity for rotating [deg/s].

◆ transEpsilonVelocity

float transEpsilonVelocity

the min.

speed that the robot platform can do, lower velocities result in standing still.

◆ rotEpsilonVelocity

float rotEpsilonVelocity

◆ maxTransAcceleration

float maxTransAcceleration

Max. acceleration.

◆ maxTransDeceleration

float maxTransDeceleration

Max. deceleration. Must be greater than zero.

◆ maxEmergencyDeceleration

float maxEmergencyDeceleration

Max. deceleration in case of an emergency. Must be greater than zero.

◆ maxRotAcceleration

float maxRotAcceleration

Max. acceleration.

◆ maxRotDeceleration

float maxRotDeceleration

Max. deceleration. Must be greater than zero.

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

include/robot/UnicycleBasedRobotModel.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Member Function Documentation

◆ reflectDegrees() [1/2]

◆ reflectDegrees() [2/2]

◆ reflect()

◆ getMaxTransVelocity()

◆ generateTrajectory()

◆ localKinematics()

◆ globalKinematics()

◆ predictStandstillDistance()

◆ predictStandstillRotation()

Member Data Documentation

◆ maxBackwardVelocity

◆ maxForwardVelocity

◆ maxRotVelocity

◆ transEpsilonVelocity

◆ rotEpsilonVelocity

◆ maxTransAcceleration

◆ maxTransDeceleration

◆ maxEmergencyDeceleration

◆ maxRotAcceleration

◆ maxRotDeceleration