Detailed Description

Definition at line 17 of file CRobotSimulator.h.

#include <mrpt/utils/CRobotSimulator.h>

Inheritance diagram for mrpt::utils::CRobotSimulator:

Public Types
typedef CVehicleVelCmd_DiffDriven	kinematic_cmd_t

Public Member Functions
	CRobotSimulator (float TAU=0, float DELAY=0)

void	getOdometry (poses::CPose2D &pose) const

void	getRealPose (poses::CPose2D &pose) const

void	getOdometry (math::TPose2D &pose) const

void	getRealPose (math::TPose2D &pose) const

void	setOdometry (const math::TPose2D &pose)

void	setRealPose (const math::TPose2D &pose)

double	getX () const

double	getY () const

double	getPHI () const

double	getT () const

void	simulateInterval (double At)

void	resetOdometry (const poses::CPose2D pose=poses::CPose2D())

void	setDelayModelParams (double TAU_delay_sec=1.8, double CMD_delay_sec=0.)
	Change the model of delays used for the orders sent to the robot. More...

void	setV (double v)

void	setW (double w)

double	getV ()

double	getW ()

void	movementCommand (double lin_vel, double ang_vel)
	Used to command the robot a desired movement: More...

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

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

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...

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 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

Member Typedef Documentation

◆ kinematic_cmd_t

typedef CVehicleVelCmd_DiffDriven mrpt::kinematics::CVehicleSimul_DiffDriven::kinematic_cmd_t

inherited

Definition at line 25 of file CVehicleSimul_DiffDriven.h.

Constructor & Destructor Documentation

◆ CRobotSimulator()

mrpt::utils::CRobotSimulator::CRobotSimulator	(	float	TAU = `0`,
		float	DELAY = `0`
	)

inline

Definition at line 20 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimul_DiffDriven::setDelayModelParams().

Member Function Documentation

◆ getCurrentGTPose()

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

inlineinherited

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(), getPHI(), getRealPose(), getX(), getY(), and run_rnav_test().

◆ getCurrentGTVel()

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

inlineinherited

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

inherited

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

Definition at line 88 of file CVehicleSimulVirtualBase.cpp.

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

◆ getCurrentOdometricPose()

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

inlineinherited

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 getOdometry().

◆ getCurrentOdometricVel()

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

inlineinherited

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

inherited

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

Definition at line 95 of file CVehicleSimulVirtualBase.cpp.

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

Referenced by mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep().

◆ getOdometry() [1/2]

void mrpt::utils::CRobotSimulator::getOdometry ( poses::CPose2D & pose ) const

inline

Definition at line 21 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricPose().

◆ getOdometry() [2/2]

void mrpt::utils::CRobotSimulator::getOdometry ( math::TPose2D & pose ) const

inline

Definition at line 23 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricPose().

◆ getPHI()

double mrpt::utils::CRobotSimulator::getPHI ( ) const

inline

Definition at line 29 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose(), and mrpt::math::TPose2D::phi.

◆ getRealPose() [1/2]

void mrpt::utils::CRobotSimulator::getRealPose ( poses::CPose2D & pose ) const

inline

Definition at line 22 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose().

◆ getRealPose() [2/2]

void mrpt::utils::CRobotSimulator::getRealPose ( math::TPose2D & pose ) const

inline

Definition at line 24 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose().

◆ getT()

double mrpt::utils::CRobotSimulator::getT ( ) const

inline

Definition at line 30 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getTime().

◆ getTime()

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

inlineinherited

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(), getT(), mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::resetNavigationTimer(), and mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::resetNavigationTimer().

◆ getV()

double mrpt::kinematics::CVehicleSimul_DiffDriven::getV ( )

inlineinherited

Definition at line 39 of file CVehicleSimul_DiffDriven.h.

◆ getVelCmdType()

CVehicleVelCmdPtr mrpt::kinematics::CVehicleSimul_DiffDriven::getVelCmdType ( ) const

inlinevirtualinherited

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

Implements mrpt::kinematics::CVehicleSimulVirtualBase.

Definition at line 53 of file CVehicleSimul_DiffDriven.h.

◆ getW()

double mrpt::kinematics::CVehicleSimul_DiffDriven::getW ( )

inlineinherited

Definition at line 40 of file CVehicleSimul_DiffDriven.h.

◆ getX()

double mrpt::utils::CRobotSimulator::getX ( ) const

inline

Definition at line 27 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose(), and mrpt::math::TPose2D::x.

◆ getY()

double mrpt::utils::CRobotSimulator::getY ( ) const

inline

Definition at line 28 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose(), and mrpt::math::TPose2D::y.

◆ movementCommand()

void CVehicleSimul_DiffDriven::movementCommand	(	double	lin_vel,
		double	ang_vel
	)

inherited

Used to command the robot a desired movement:

Parameters

lin_vel	Linar velocity (m/s)
ang_vel	Angular velocity (rad/s)

Definition at line 67 of file CVehicleSimul_DiffDriven.cpp.

References mrpt::kinematics::CVehicleSimul_DiffDriven::Command_Time, mrpt::kinematics::CVehicleSimul_DiffDriven::Command_v, mrpt::kinematics::CVehicleSimul_DiffDriven::Command_v0, mrpt::kinematics::CVehicleSimul_DiffDriven::Command_w, mrpt::kinematics::CVehicleSimul_DiffDriven::Command_w0, mrpt::kinematics::CVehicleSimulVirtualBase::m_time, mrpt::kinematics::CVehicleSimul_DiffDriven::m_v, and mrpt::kinematics::CVehicleSimul_DiffDriven::m_w.

◆ resetOdometry()

void mrpt::utils::CRobotSimulator::resetOdometry ( const poses::CPose2D pose = poses::CPose2D() )

inline

Definition at line 32 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::setCurrentOdometricPose().

◆ resetStatus()

void CVehicleSimulVirtualBase::resetStatus ( )

inherited

Definition at line 74 of file CVehicleSimulVirtualBase.cpp.

References mrpt::kinematics::CVehicleSimulVirtualBase::internal_clear(), mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_pose, mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_vel, mrpt::kinematics::CVehicleSimulVirtualBase::m_odometric_vel, and mrpt::kinematics::CVehicleSimulVirtualBase::m_odometry.

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

◆ resetTime()

void CVehicleSimulVirtualBase::resetTime ( )

inherited

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 mrpt::kinematics::CVehicleSimulVirtualBase::m_time.

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

◆ sendVelCmd()

void mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd ( const CVehicleVelCmd & cmd_vel )

inlinevirtualinherited

Sends a velocity command to the robot.

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

Implements mrpt::kinematics::CVehicleSimulVirtualBase.

Definition at line 48 of file CVehicleSimul_DiffDriven.h.

References mrpt::kinematics::CVehicleVelCmd_DiffDriven::ang_vel, ASSERTMSG_, and mrpt::kinematics::CVehicleVelCmd_DiffDriven::lin_vel.

Referenced by mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::changeSpeeds(), and mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::stop().

◆ setCurrentGTPose()

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

inherited

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

Definition at line 27 of file CVehicleSimulVirtualBase.cpp.

References mrpt::kinematics::CVehicleSimulVirtualBase::m_GT_pose.

Referenced by setRealPose().

◆ setCurrentOdometricPose()

template<typename T >

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

inlineinherited

Brute-force overwrite robot odometry.

Definition at line 51 of file CVehicleSimulVirtualBase.h.

Referenced by resetOdometry(), and setOdometry().

◆ setDelayModelParams()

void mrpt::kinematics::CVehicleSimul_DiffDriven::setDelayModelParams	(	double	TAU_delay_sec = `1.8`,
		double	CMD_delay_sec = `0.`
	)

inlineinherited

Change the model of delays used for the orders sent to the robot.

See also: movementCommand

Definition at line 31 of file CVehicleSimul_DiffDriven.h.

Referenced by CRobotSimulator().

◆ setOdometry()

void mrpt::utils::CRobotSimulator::setOdometry ( const math::TPose2D & pose )

inline

Definition at line 25 of file CRobotSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::setCurrentOdometricPose().

◆ 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)`
	)