SimModelInterface Class Reference

simple_planning_simulator vehicle model class to calculate vehicle dynamics More...

#include <sim_model_interface.hpp>

Inheritance diagram for SimModelInterface:

Public Member Functions
	SimModelInterface (int dim_x, int dim_u)
	constructor More...
	~SimModelInterface ()=default
	destructor More...
void	getState (Eigen::VectorXd &state)
	get state vector of model More...
void	getInput (Eigen::VectorXd &input)
	get input vector of model More...
void	setState (const Eigen::VectorXd &state)
	set state vector of model More...
void	setInput (const Eigen::VectorXd &input)
	set input vector of model More...
void	setGear (const uint8_t gear)
	set gear More...
void	updateRungeKutta (const double &dt, const Eigen::VectorXd &input)
	update vehicle states with Runge-Kutta methods More...
void	updateEuler (const double &dt, const Eigen::VectorXd &input)
	update vehicle states with Euler methods More...
virtual void	update (const double &dt)=0
	update vehicle states More...
virtual double	getX ()=0
	get vehicle position x More...
virtual double	getY ()=0
	get vehicle position y More...
virtual double	getYaw ()=0
	get vehicle angle yaw More...
virtual double	getVx ()=0
	get vehicle velocity vx More...
virtual double	getVy ()=0
	get vehicle lateral velocity More...
virtual double	getAx ()=0
	get vehicle longitudinal acceleration More...
virtual double	getWz ()=0
	get vehicle angular-velocity wz More...
virtual double	getSteer ()=0
	get vehicle steering angle More...
uint8_t	getGear () const
	get vehicle gear More...
int	getDimX ()
	get state vector dimension More...
int	getDimU ()
	get input vector dimension More...
virtual Eigen::VectorXd	calcModel (const Eigen::VectorXd &state, const Eigen::VectorXd &input)=0
	calculate derivative of states with vehicle model More...

Protected Attributes
const int	dim_x_
	dimension of state x More...
const int	dim_u_
	dimension of input u More...
Eigen::VectorXd	state_
	vehicle state vector More...
Eigen::VectorXd	input_
	vehicle input vector More...
uint8_t	gear_ = autoware_auto_vehicle_msgs::msg::GearCommand::DRIVE

Detailed Description

simple_planning_simulator vehicle model class to calculate vehicle dynamics

Constructor & Destructor Documentation

SimModelInterface()

SimModelInterface::SimModelInterface	(	int	dim_x,
		int	dim_u
	)

constructor

Parameters

[in]	dim_x	dimension of state x
[in]	dim_u	dimension of input u

~SimModelInterface()

SimModelInterface::~SimModelInterface ( )

default

destructor

Member Function Documentation

calcModel()

virtual Eigen::VectorXd SimModelInterface::calcModel ( const Eigen::VectorXd &  state, const Eigen::VectorXd &  input  )

pure virtual

calculate derivative of states with vehicle model

Parameters

[in]	state	current model state
[in]	input	input vector to model

getAx()

virtual double SimModelInterface::getAx ( )

pure virtual

get vehicle longitudinal acceleration

getDimU()

int SimModelInterface::getDimU ( )

inline

get input vector dimension

getDimX()

int SimModelInterface::getDimX ( )

inline

get state vector dimension

getGear()

uint8_t SimModelInterface::getGear

(

)

const

get vehicle gear

getInput()

void SimModelInterface::getInput

(

Eigen::VectorXd &

input

)

get input vector of model

Parameters

[out]

input

input vector

getState()

void SimModelInterface::getState

(

Eigen::VectorXd &

state

)

get state vector of model

Parameters

[out]

state

state vector

getSteer()

virtual double SimModelInterface::getSteer ( )

pure virtual

get vehicle steering angle

getVx()

virtual double SimModelInterface::getVx ( )

pure virtual

get vehicle velocity vx

getVy()

virtual double SimModelInterface::getVy ( )

pure virtual

get vehicle lateral velocity

getWz()

virtual double SimModelInterface::getWz ( )

pure virtual

get vehicle angular-velocity wz

getX()

virtual double SimModelInterface::getX ( )

pure virtual

get vehicle position x

getY()

virtual double SimModelInterface::getY ( )

pure virtual

get vehicle position y

getYaw()

virtual double SimModelInterface::getYaw ( )

pure virtual

get vehicle angle yaw

setGear()

void SimModelInterface::setGear

(

const uint8_t

gear

)

set gear

Parameters

[in]

gear

gear command defined in autoware_auto_msgs/GearCommand

setInput()

void SimModelInterface::setInput

(

const Eigen::VectorXd &

input

)

set input vector of model

Parameters

[in]

input

input vector

setState()

void SimModelInterface::setState

(

const Eigen::VectorXd &

state

)

set state vector of model

Parameters

[in]

state

state vector

update()

virtual void SimModelInterface::update ( const double &  dt )

pure virtual

update vehicle states

Parameters

[in]

dt

delta time [s]

updateEuler()

void SimModelInterface::updateEuler	(	const double &	dt,
		const Eigen::VectorXd &	input
	)

update vehicle states with Euler methods

Parameters

[in]	dt	delta time [s]
[in]	input	vehicle input

updateRungeKutta()

void SimModelInterface::updateRungeKutta	(	const double &	dt,
		const Eigen::VectorXd &	input
	)

update vehicle states with Runge-Kutta methods

Parameters

[in]	dt	delta time [s]
[in]	input	vehicle input

Member Data Documentation

dim_u_

const int SimModelInterface::dim_u_

protected

dimension of input u

dim_x_

const int SimModelInterface::dim_x_

protected

dimension of state x

gear_

uint8_t SimModelInterface::gear_ = autoware_auto_vehicle_msgs::msg::GearCommand::DRIVE

protected

input_

Eigen::VectorXd SimModelInterface::input_

protected

vehicle input vector

gear command defined in autoware_auto_msgs/GearCommand

state_

Eigen::VectorXd SimModelInterface::state_

protected

vehicle state vector

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

• simulation/simple_sensor_simulator/include/simple_sensor_simulator/vehicle_simulation/vehicle_model/sim_model_interface.hpp
• simulation/simple_sensor_simulator/src/vehicle_simulation/vehicle_model/sim_model_interface.cpp