autoware::motion::control::trajectory_follower::DynamicsBicycleModel Class Reference
calculate model-related values More...
#include <vehicle_model_bicycle_dynamics.hpp>
Inheritance diagram for autoware::motion::control::trajectory_follower::DynamicsBicycleModel:
Collaboration diagram for autoware::motion::control::trajectory_follower::DynamicsBicycleModel:
Public Member Functions | |
| DynamicsBicycleModel (const float64_t wheelbase, const float64_t mass_fl, const float64_t mass_fr, const float64_t mass_rl, const float64_t mass_rr, const float64_t cf, const float64_t cr) | |
| constructor with parameter initialization More... | |
| ~DynamicsBicycleModel ()=default | |
| destructor More... | |
| void | calculateDiscreteMatrix (Eigen::MatrixXd &a_d, Eigen::MatrixXd &b_d, Eigen::MatrixXd &w_d, Eigen::MatrixXd &c_d, const float64_t dt) override |
| calculate discrete model matrix of x_k+1 = a_d * xk + b_d * uk + w_d, yk = c_d * xk More... | |
| void | calculateReferenceInput (Eigen::MatrixXd &u_ref) override |
| calculate reference input More... | |
 Public Member Functions inherited from autoware::motion::control::trajectory_follower::VehicleModelInterface | |
| VehicleModelInterface (int64_t dim_x, int64_t dim_u, int64_t dim_y, float64_t wheelbase) | |
| constructor More... | |
| virtual | ~VehicleModelInterface ()=default |
| destructor More... | |
| int64_t | getDimX () |
| get state x dimension More... | |
| int64_t | getDimU () |
| get input u dimension More... | |
| int64_t | getDimY () |
| get output y dimension More... | |
| float64_t | getWheelbase () |
| get wheelbase of the vehicle More... | |
| void | setVelocity (const float64_t velocity) |
| set velocity More... | |
| void | setCurvature (const float64_t curvature) |
| set curvature More... | |
Additional Inherited Members | |
| Protected Attributes inherited from autoware::motion::control::trajectory_follower::VehicleModelInterface | |
| const int64_t | m_dim_x |
| dimension of state x More... | |
| const int64_t | m_dim_u |
| dimension of input u More... | |
| const int64_t | m_dim_y |
| dimension of output y More... | |
| float64_t | m_velocity |
| vehicle velocity [m/s] More... | |
| float64_t | m_curvature |
| curvature on the linearized point on path More... | |
| float64_t | m_wheelbase |
| wheelbase of the vehicle [m] More... | |
Detailed Description
calculate model-related values
Vehicle model class of bicycle dynamics
Constructor & Destructor Documentation
◆ DynamicsBicycleModel()
| autoware::motion::control::trajectory_follower::DynamicsBicycleModel::DynamicsBicycleModel | ( | const float64_t | wheelbase, |
| const float64_t | mass_fl, | ||
| const float64_t | mass_fr, | ||
| const float64_t | mass_rl, | ||
| const float64_t | mass_rr, | ||
| const float64_t | cf, | ||
| const float64_t | cr | ||
| ) |
constructor with parameter initialization
- Parameters
-
[in] wheelbase wheelbase length [m] [in] mass_fl mass applied to front left tire [kg] [in] mass_fr mass applied to front right tire [kg] [in] mass_rl mass applied to rear left tire [kg] [in] mass_rr mass applied to rear right tire [kg] [in] cf front cornering power [N/rad] [in] cr rear cornering power [N/rad]
◆ ~DynamicsBicycleModel()
|
default |
destructor
Member Function Documentation
◆ calculateDiscreteMatrix()
|
overridevirtual |
calculate discrete model matrix of x_k+1 = a_d * xk + b_d * uk + w_d, yk = c_d * xk
- Parameters
-
[in] a_d coefficient matrix [in] b_d coefficient matrix [in] c_d coefficient matrix [in] w_d coefficient matrix [in] dt Discretization time [s]
Implements autoware::motion::control::trajectory_follower::VehicleModelInterface.
◆ calculateReferenceInput()
|
overridevirtual |
calculate reference input
- Parameters
-
[out] u_ref input
Implements autoware::motion::control::trajectory_follower::VehicleModelInterface.
The documentation for this class was generated from the following files: