ackermann::Model Class Reference

This class is used to further define a vehicle with Ackermann steering. More...

#include <Model.hpp>

Public Member Functions
	Model (const std::shared_ptr< const Params > &params)
	Constructor. More...
void	reset ()
	Reset system state variables to defaults.
void	setState (const double speed, const double heading)
	Set the current system state. More...
void	getState (double &speed, double &heading) const
	Get the current state estimate; return as parameters specified. More...
void	setGoal (const double speed, const double heading)
	Set the target setpoint. More...
void	getGoal (double &speed, double &heading) const
	Get the current setpoint; return as parameters specified. More...
void	getCommand (double &throttle, double &steering) const
	Get the current commanded throttle and steering angle; return as parameters specified. More...
void	getCommand (double &throttle, double &steering, double &steer_vel) const
	Get the current commanded throttle and steering angle; return as parameters specified. More...
void	command (double desired_speed, double steering, const double dt)
	Simulate execution of the given throttle and steering commands. More...
void	getError (double &speed_error, double &heading_error) const
	Return the current error between desired and setpoint; return as parameters specified. More...
void	getWheelLinVel (double &wheel_LeftFront, double &wheel_RightFront, double &wheel_LeftRear, double &wheel_RightRear) const
	Return the current linear velocity at each wheel; used for calculating wheel speed with tire information. Return as parameters specified. More...

Detailed Description

This class is used to further define a vehicle with Ackermann steering.

Constructor & Destructor Documentation

Model()

ackermann::Model::Model ( const std::shared_ptr< const Params > &  params )

explicit

Constructor.

Parameters

params

Shared pointer detailing rover characteristic parameters

Here is the call graph for this function:

Member Function Documentation

command()

void ackermann::Model::command	(	double	desired_speed,
		double	steering,
		const double	dt
	)

Simulate execution of the given throttle and steering commands.

Parameters

throttle	The commanded throttle ([0,1]).
steering	The commanded steering angle (rad).
dt	The amount of time to simulate over (s).

getCommand() [1/2]

void ackermann::Model::getCommand	(	double &	throttle,
		double &	steering
	)		const

Get the current commanded throttle and steering angle; return as parameters specified.

Parameters

throttle	The last commanded throttle (limited to [0,1]).
steering	The last commanded steering angle (rad).

getCommand() [2/2]

void ackermann::Model::getCommand	(	double &	throttle,
		double &	steering,
		double &	steer_vel
	)		const

Get the current commanded throttle and steering angle; return as parameters specified.

Parameters

throttle	The last commanded throttle (limited to [0,1]).
steering	The last commanded steering angle (rad).
steer_vel	The current steering angle velocity (rad/s).

getError()

void ackermann::Model::getError	(	double &	speed_error,
		double &	heading_error
	)		const

Return the current error between desired and setpoint; return as parameters specified.

Parameters

speed_error	Current speed error (m/s).
heading_error	Current heading error (rad).

getGoal()

void ackermann::Model::getGoal	(	double &	speed,
		double &	heading
	)		const

Get the current setpoint; return as parameters specified.

Parameters

speed	Desired system speed (m/s).
heading	Desired system heading (rad).

getState()

void ackermann::Model::getState	(	double &	speed,
		double &	heading
	)		const

Get the current state estimate; return as parameters specified.

Parameters

speed	Estimated system speed (m/s).
heading	Estimated system heading (rad).

getWheelLinVel()

void ackermann::Model::getWheelLinVel	(	double &	wheel_LeftFront,
		double &	wheel_RightFront,
		double &	wheel_LeftRear,
		double &	wheel_RightRear
	)		const

Return the current linear velocity at each wheel; used for calculating wheel speed with tire information. Return as parameters specified.

Parameters

wheel_LeftFront&	Left front wheel linear velocity
wheel_RightFront&	Right front wheel linear velocity
wheel_LeftRear&	Left rear wheel linear velocity
wheel_RightRear&	Right rear wheel linear velocity

setGoal()

void ackermann::Model::setGoal	(	const double	speed,
		const double	heading
	)

Set the target setpoint.

Parameters

speed	Desired system speed (m/s).
heading	Desired system heading (rad).

setState()

void ackermann::Model::setState	(	const double	speed,
		const double	heading
	)

Set the current system state.

Parameters

speed	Actual system speed (m/s)
heading	Actual system heading (rad).

---

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

• include/Model.hpp
• app/Model.cpp