The BicycleVehicleModelDynamics class. Implements the bicycle vehicle model dynamics. The implementation of the dynamics is taken from the paper: Deep Reinforcement Learning for Mobile Robot Path Planning by Hao Liu, Yi Shen, Shuangjiang Yu, Zijun Gao, Tong Wu The state of the model is described by the tuple (X, Y, Phi) where (X,Y) denotes the 2D position of the vehicle in the world coordinates and phi denotes the heading of the vehicle. More...

#include <bicycle_vehicle_model_dynamics.h>

Inheritance diagram for bitrl::dynamics::BicycleVehicleModelDynamics:

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Collaboration diagram for bitrl::dynamics::BicycleVehicleModelDynamics:

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Public Types
typedef MotionModelDynamicsBase< SysState< 3 >, DynamicsMatrixDescriptor, std::map< std::string, std::any > >	base_type

typedef base_type::state_type	state_type

typedef base_type::input_type	input_type

typedef base_type::matrix_descriptor_type	matrix_descriptor_type

typedef matrix_descriptor_type::matrix_type	matrix_type

typedef matrix_descriptor_type::vector_type	vector_type

Public Types inherited from bitrl::dynamics::MotionModelDynamicsBase< SysState< 3 >, DynamicsMatrixDescriptor, std::map< std::string, std::any > >
typedef SysState< 3 >	state_type

typedef state_type	output_type

typedef std::map< std::string, std::any >	input_type

typedef DynamicsMatrixDescriptor	matrix_descriptor_type

typedef matrix_descriptor_type::matrix_type	matrix_type

typedef matrix_descriptor_type::vector_type	vector_type

Public Member Functions
	BicycleVehicleModelDynamics (const BicycleVehicleModelDynamicsConfig config, SysState< 3 > &init_state)
	Constructor.

void	integrate (const input_type &input)
	integrate. Integrate the dynamics equations the model expects the following inputs the velocity of the vehicle v and the angle delta of the front wheel

state_type &	evaluate (const input_type &input)
	evaluate

void	initialize_matrices (const input_type &input)
	initialize_matrices. Initialize the matrix description of the dynamics

void	update_matrices (const input_type &input)
	update_matrices. Update the matrix description of the dynamics

void	load_from_json (const std::string &filename)
	load_from_json Load the description of the chassis from the given json file

Public Member Functions inherited from bitrl::dynamics::MotionModelDynamicsBase< SysState< 3 >, DynamicsMatrixDescriptor, std::map< std::string, std::any > >
virtual	~MotionModelDynamicsBase ()=default
	Destructor.

virtual state_type &	evaluate (const input_type &input)=0
	Updates and returns the value of the state given the input.

const state_type &	get_state () const
	Read access to the state.

state_type &	get_state ()
	Read/write access to the state.

std::vector< std::string_view >	get_state_variables_names () const
	get_state_variables_names. Returns the name of the variables in the state

matrix_type &	get_matrix (const std::string &name)

const matrix_type &	get_matrix (const std::string &name) const

void	set_matrix (const std::string &name, const matrix_type &mat)

vector_type &	get_vector (const std::string &name)

const vector_type &	get_vector (const std::string &name) const

void	set_vector (const std::string &name, const vector_type &vec)

void	set_matrix_update_flag (bool f)
	set the matrix update flag

bool	allows_matrix_updates () const
	Set the flag for updating or not the matrices describing the model.

bool	has_matrix (const std::string &name) const
	Returns true if the matrix with the given name already exists.

real_t	get_state_property (const std::string &name) const
	Returns the state property with the given name.

void	set_state_property (const std::string &name, real_t value)
	Set the name-th value of the state.

void	set_state_name_value (uint_t i, const std::string &name, real_t val)
	Set the state names.

void	set_state_name_value (uint_t i, const std::pair< std::string, real_t > &val)
	Set the state names.

void	set_time_step (real_t dt)
	Set the time step.

real_t	get_time_step () const
	get_time_step Returns the sampling time the dynamics model is using

real_t	get_tolerance () const
	get_tolerance Returns the general tolerance used in the calculations

void	set_tolerance (real_t tol)
	set_tolerance Set the general tolerance used in the calculations. Default is KernelConsts::tolerance()

Additional Inherited Members
Static Public Attributes inherited from bitrl::dynamics::MotionModelDynamicsBase< SysState< 3 >, DynamicsMatrixDescriptor, std::map< std::string, std::any > >
static const uint_t	state_dimension
	The dimension of the state.

Protected Member Functions inherited from bitrl::dynamics::MotionModelDynamicsBase< SysState< 3 >, DynamicsMatrixDescriptor, std::map< std::string, std::any > >
	MotionModelDynamicsBase (bool update_description_matrices_on_evaluate=true)
	Constructor.

	MotionModelDynamicsBase (const state_type &init_state, bool update_description_matrices_on_evaluate=true)
	Constructor.

Protected Attributes inherited from bitrl::dynamics::MotionModelDynamicsBase< SysState< 3 >, DynamicsMatrixDescriptor, std::map< std::string, std::any > >
state_type	state_
	The object describing the state of the object of which its dynamics are described/modeled by this MotionModel.

matrix_descriptor_type	matrix_description_
	matrix descriptor

bool	update_description_matrices_on_evaluate_
	flag indicating the update of the matrices the model is using to describe itself

real_t	dt_
	The time step the integrator uses.

real_t	tol_
	tolerance

Detailed Description

The BicycleVehicleModelDynamics class. Implements the bicycle vehicle model dynamics. The implementation of the dynamics is taken from the paper: Deep Reinforcement Learning for Mobile Robot Path Planning by Hao Liu, Yi Shen, Shuangjiang Yu, Zijun Gao, Tong Wu The state of the model is described by the tuple (X, Y, Phi) where (X,Y) denotes the 2D position of the vehicle in the world coordinates and phi denotes the heading of the vehicle.

Member Typedef Documentation

◆ base_type

typedef MotionModelDynamicsBase<SysState<3>, DynamicsMatrixDescriptor, std::map<std::string, std::any> > bitrl::dynamics::BicycleVehicleModelDynamics::base_type

◆ input_type

typedef base_type::input_type bitrl::dynamics::BicycleVehicleModelDynamics::input_type

◆ matrix_descriptor_type

typedef base_type::matrix_descriptor_type bitrl::dynamics::BicycleVehicleModelDynamics::matrix_descriptor_type

◆ matrix_type

typedef matrix_descriptor_type::matrix_type bitrl::dynamics::BicycleVehicleModelDynamics::matrix_type

◆ state_type

typedef base_type::state_type bitrl::dynamics::BicycleVehicleModelDynamics::state_type

◆ vector_type

typedef matrix_descriptor_type::vector_type bitrl::dynamics::BicycleVehicleModelDynamics::vector_type

Constructor & Destructor Documentation

◆ BicycleVehicleModelDynamics()

bitrl::dynamics::BicycleVehicleModelDynamics::BicycleVehicleModelDynamics	(	const BicycleVehicleModelDynamicsConfig	config,
		SysState< 3 > &	init_state
	)

Constructor.

Member Function Documentation

◆ evaluate()

BicycleVehicleModelDynamics::state_type & bitrl::dynamics::BicycleVehicleModelDynamics::evaluate ( const input_type & input )

evaluate

Parameters

input

Returns

◆ initialize_matrices()

void bitrl::dynamics::BicycleVehicleModelDynamics::initialize_matrices ( const input_type & input )

initialize_matrices. Initialize the matrix description of the dynamics

◆ integrate()

void bitrl::dynamics::BicycleVehicleModelDynamics::integrate ( const input_type & input )

integrate. Integrate the dynamics equations the model expects the following inputs the velocity of the vehicle v and the angle delta of the front wheel

before we do the integration update the matrices

◆ load_from_json()

void bitrl::dynamics::BicycleVehicleModelDynamics::load_from_json ( const std::string & filename )

inline

load_from_json Load the description of the chassis from the given json file

◆ update_matrices()

void bitrl::dynamics::BicycleVehicleModelDynamics::update_matrices ( const input_type & input )

update_matrices. Update the matrix description of the dynamics

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

libs/bitrl/src/bitrl/dynamics/bicycle_vehicle_model_dynamics.h
libs/bitrl/src/bitrl/dynamics/bicycle_vehicle_model_dynamics.cpp

Public Types

Public Member Functions

Additional Inherited Members