class mrpt::kinematics::CVehicleSimul_DiffDriven

Python API: mrpt.kinematics.CVehicleSimul_DiffDriven

Overview

Simulates the kinematics of a differential-driven planar mobile robot/vehicle, including odometry errors and dynamics limitations.

#include <mrpt/kinematics/CVehicleSimul_DiffDriven.h>

class CVehicleSimul_DiffDriven: public mrpt::kinematics::CVehicleSimulVirtualBase
{
public:
    // typedefs

    typedef CVehicleVelCmd_DiffDriven kinematic_cmd_t;

    // construction

    CVehicleSimul_DiffDriven();

    // methods

    void setDelayModelParams(double TAU_delay_sec = 1.8, double CMD_delay_sec = 0.);
    void setV(double v);
    void setW(double w);
    double getV();
    double getW();
    void movementCommand(double lin_vel, double ang_vel);
    virtual void sendVelCmd(const CVehicleVelCmd& cmd_vel);
    virtual CVehicleVelCmd::Ptr getVelCmdType() const;
};

Inherited Members

public:
    // methods

    void simulateOneTimeStep(const double dt);
    const mrpt::math::TPose2D& getCurrentGTPose() const;
    void setCurrentGTPose(const mrpt::math::TPose2D& pose);
    const mrpt::math::TPose2D& getCurrentOdometricPose() const;

    template <typename T>
    void setCurrentOdometricPose(const T& pose);

    const mrpt::math::TTwist2D& getCurrentGTVel() const;
    mrpt::math::TTwist2D getCurrentGTVelLocal() const;
    const mrpt::math::TTwist2D& getCurrentOdometricVel() const;
    mrpt::math::TTwist2D getCurrentOdometricVelLocal() const;
    double getTime() const;
    virtual void sendVelCmd(const CVehicleVelCmd& cmd_vel) = 0;
    virtual CVehicleVelCmd::Ptr getVelCmdType() const = 0;

    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::DEG2RAD(1e-3),
        double Aphi_err_std = mrpt::DEG2RAD(10e-3)
        );

    void resetStatus();
    void resetTime();

Methods

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.

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