Detailed Description

This class can be used to simulate the kinematics and dynamics of a differential driven planar mobile robot, including odometry errors and dynamics limitations.

Main API methods are:

movementCommand: Call this for send a command to the robot. This comamnd will be delayed and passed throught a first order low-pass filter to simulate robot dynamics.
simulateInterval: Call this for run the simulator for the desired time period.

Definition at line 30 of file CVehicleSimulVirtualBase.h.

#include <mrpt/kinematics/CVehicleSimulVirtualBase.h>

Inheritance diagram for mrpt::kinematics::CVehicleSimulVirtualBase:

Public Member Functions
	CVehicleSimulVirtualBase ()

virtual	~CVehicleSimulVirtualBase ()

Kinematic simulation and control interface
void	simulateOneTimeStep (const double dt)
	Runs the simulator during "dt" seconds. More...

const mrpt::math::TPose2D &	getCurrentGTPose () const
	Returns the instantaneous, ground truth pose in world coordinates. More...

void	setCurrentGTPose (const mrpt::math::TPose2D &pose)
	Brute-force move robot to target coordinates ("teleport") More...

const mrpt::math::TPose2D &	getCurrentOdometricPose () const
	Returns the current pose according to (noisy) odometry. More...

template<typename T >
void	setCurrentOdometricPose (const T &pose)
	Brute-force overwrite robot odometry. More...

const mrpt::math::TTwist2D &	getCurrentGTVel () const
	Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in world coordinates. More...

mrpt::math::TTwist2D	getCurrentGTVelLocal () const
	Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in the robot local frame. More...

const mrpt::math::TTwist2D &	getCurrentOdometricVel () const
	Returns the instantaneous, odometric velocity vector (vx,vy,omega) in world coordinates. More...

mrpt::math::TTwist2D	getCurrentOdometricVelLocal () const
	Returns the instantaneous, odometric velocity vector (vx,vy,omega) in the robot local frame. More...

double	getTime () const
	Get the current simulation time. More...

virtual void	sendVelCmd (const CVehicleVelCmd &cmd_vel)=0
	Sends a velocity command to the robot. More...

virtual CVehicleVelCmdPtr	getVelCmdType () const =0
	Gets an empty velocity command object that can be queried to find out the number of velcmd components,... More...

void	setOdometryErrors (bool enabled, double Ax_err_bias=1e-3, double Ax_err_std=10e-3, double Ay_err_bias=1e-3, double Ay_err_std=10e-3, double Aphi_err_bias=mrpt::utils::DEG2RAD(1e-3), double Aphi_err_std=mrpt::utils::DEG2RAD(10e-3))
	Enable/Disable odometry errors. More...

void	resetStatus ()

void	resetTime ()
	Reset all simulator variables to 0 (except the simulation time). More...

Protected Member Functions
virtual void	internal_simulControlStep (const double dt)=0

virtual void	internal_clear ()=0
	Resets all pending cmds. More...

Protected Attributes
double	m_firmware_control_period
	The period at which the low-level controller updates velocities (Default: 0.5 ms) More...

bool	m_use_odo_error
	Whether to corrupt odometry with noise. More...

double	m_Ax_err_bias

double	m_Ax_err_std

double	m_Ay_err_bias

double	m_Ay_err_std

double	m_Aphi_err_bias

double	m_Aphi_err_std

State vector
double	m_time
	simulation running time More...

mrpt::math::TPose2D	m_GT_pose
	ground truth pose in world coordinates. More...

mrpt::math::TTwist2D	m_GT_vel
	Velocity in (x,y,omega) More...

mrpt::math::TTwist2D	m_odometric_vel
	Velocity in (x,y,omega) More...

mrpt::math::TPose2D	m_odometry

Constructor & Destructor Documentation

◆ CVehicleSimulVirtualBase()

CVehicleSimulVirtualBase::CVehicleSimulVirtualBase ( )

Definition at line 18 of file CVehicleSimulVirtualBase.cpp.

◆ ~CVehicleSimulVirtualBase()

CVehicleSimulVirtualBase::~CVehicleSimulVirtualBase ( )

virtual

Definition at line 23 of file CVehicleSimulVirtualBase.cpp.

Member Function Documentation

◆ getCurrentGTPose()

const mrpt::math::TPose2D& mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose ( ) const

inline

Returns the instantaneous, ground truth pose in world coordinates.

Definition at line 42 of file CVehicleSimulVirtualBase.h.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getCurrentPoseAndSpeeds(), mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getCurrentPoseAndSpeeds(), mrpt::utils::CRobotSimulator::getPHI(), mrpt::utils::CRobotSimulator::getRealPose(), mrpt::utils::CRobotSimulator::getX(), mrpt::utils::CRobotSimulator::getY(), and run_rnav_test().

◆ getCurrentGTVel()

const mrpt::math::TTwist2D& mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVel ( ) const

inline

Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in world coordinates.

Definition at line 54 of file CVehicleSimulVirtualBase.h.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getCurrentPoseAndSpeeds(), and mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getCurrentPoseAndSpeeds().

◆ getCurrentGTVelLocal()

mrpt::math::TTwist2D CVehicleSimulVirtualBase::getCurrentGTVelLocal ( ) const

Returns the instantaneous, ground truth velocity vector (vx,vy,omega) in the robot local frame.

Definition at line 88 of file CVehicleSimulVirtualBase.cpp.

References m_GT_pose, m_GT_vel, mrpt::math::TPose2D::phi, and mrpt::math::TTwist2D::rotate().

◆ getCurrentOdometricPose()

const mrpt::math::TPose2D& mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricPose ( ) const

inline

Returns the current pose according to (noisy) odometry.

See also: setOdometryErrors

Definition at line 48 of file CVehicleSimulVirtualBase.h.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getCurrentPoseAndSpeeds(), mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getCurrentPoseAndSpeeds(), and mrpt::utils::CRobotSimulator::getOdometry().

◆ getCurrentOdometricVel()

const mrpt::math::TTwist2D& mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVel ( ) const

inline

Returns the instantaneous, odometric velocity vector (vx,vy,omega) in world coordinates.

Definition at line 59 of file CVehicleSimulVirtualBase.h.

◆ getCurrentOdometricVelLocal()

mrpt::math::TTwist2D CVehicleSimulVirtualBase::getCurrentOdometricVelLocal ( ) const

Returns the instantaneous, odometric velocity vector (vx,vy,omega) in the robot local frame.

Definition at line 95 of file CVehicleSimulVirtualBase.cpp.

References m_odometric_vel, m_odometry, mrpt::math::TPose2D::phi, and mrpt::math::TTwist2D::rotate().

Referenced by simulateOneTimeStep().

◆ getTime()

double mrpt::kinematics::CVehicleSimulVirtualBase::getTime ( ) const

inline

Get the current simulation time.

Definition at line 65 of file CVehicleSimulVirtualBase.h.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getNavigationTime(), mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getNavigationTime(), mrpt::utils::CRobotSimulator::getT(), mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::resetNavigationTimer(), and mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::resetNavigationTimer().

◆ getVelCmdType()

virtual CVehicleVelCmdPtr mrpt::kinematics::CVehicleSimulVirtualBase::getVelCmdType ( ) const

pure virtual

Gets an empty velocity command object that can be queried to find out the number of velcmd components,...

Implemented in mrpt::kinematics::CVehicleSimul_DiffDriven, and mrpt::kinematics::CVehicleSimul_Holo.

◆ internal_clear()

virtual void mrpt::kinematics::CVehicleSimulVirtualBase::internal_clear ( )

protectedpure virtual

Resets all pending cmds.

Implemented in mrpt::kinematics::CVehicleSimul_DiffDriven, and mrpt::kinematics::CVehicleSimul_Holo.

Referenced by resetStatus().

◆ internal_simulControlStep()

virtual void mrpt::kinematics::CVehicleSimulVirtualBase::internal_simulControlStep ( const double dt )

protectedpure virtual

Implemented in mrpt::kinematics::CVehicleSimul_DiffDriven, and mrpt::kinematics::CVehicleSimul_Holo.

Referenced by simulateOneTimeStep().

◆ resetStatus()

void CVehicleSimulVirtualBase::resetStatus ( )

Definition at line 74 of file CVehicleSimulVirtualBase.cpp.

References internal_clear(), m_GT_pose, m_GT_vel, m_odometric_vel, and m_odometry.

Referenced by mrpt::kinematics::CVehicleSimul_DiffDriven::CVehicleSimul_DiffDriven(), and mrpt::kinematics::CVehicleSimul_Holo::CVehicleSimul_Holo().

◆ resetTime()

void CVehicleSimulVirtualBase::resetTime ( )

Reset all simulator variables to 0 (except the simulation time).

See also: resetTime Reset time counter; resetStatus

Definition at line 83 of file CVehicleSimulVirtualBase.cpp.

References m_time.

Referenced by mrpt::kinematics::CVehicleSimul_DiffDriven::CVehicleSimul_DiffDriven(), and mrpt::kinematics::CVehicleSimul_Holo::CVehicleSimul_Holo().

◆ sendVelCmd()

virtual void mrpt::kinematics::CVehicleSimulVirtualBase::sendVelCmd ( const CVehicleVelCmd & cmd_vel )

pure virtual

Sends a velocity command to the robot.

The number of components and their meaning depends on the vehicle-kinematics derived class

Implemented in mrpt::kinematics::CVehicleSimul_DiffDriven, and mrpt::kinematics::CVehicleSimul_Holo.

◆ setCurrentGTPose()

void CVehicleSimulVirtualBase::setCurrentGTPose ( const mrpt::math::TPose2D & pose )

Brute-force move robot to target coordinates ("teleport")

Definition at line 27 of file CVehicleSimulVirtualBase.cpp.

References m_GT_pose.

Referenced by mrpt::utils::CRobotSimulator::setRealPose().

◆ setCurrentOdometricPose()

template<typename T >

void mrpt::kinematics::CVehicleSimulVirtualBase::setCurrentOdometricPose ( const T & pose )

inline

Brute-force overwrite robot odometry.

Definition at line 51 of file CVehicleSimulVirtualBase.h.

Referenced by mrpt::utils::CRobotSimulator::resetOdometry(), and mrpt::utils::CRobotSimulator::setOdometry().

◆ setOdometryErrors()

void mrpt::kinematics::CVehicleSimulVirtualBase::setOdometryErrors	(	bool	enabled,
		double	Ax_err_bias = `1e-3`,
		double	Ax_err_std = `10e-3`,
		double	Ay_err_bias = `1e-3`,
		double	Ay_err_std = `10e-3`,
		double	Aphi_err_bias = `mrpt::utils::DEG2RAD(1e-3)`,
		double	Aphi_err_std = `mrpt::utils::DEG2RAD(10e-3)`
	)