DiffDriveDynamics class. Describes the motion dynamics of a differential drive system. It implements the following equations. More...

#include <diff_drive_dynamics.h>

Inheritance diagram for bitrl::dynamics::DiffDriveDynamics:

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Collaboration diagram for bitrl::dynamics::DiffDriveDynamics:

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Public Types
enum class	DynamicVersion { V1 , V2 , V3 }
	The DynamicVersion enum. Helper enum to disambiguate the two supplied configurations. More...

typedef MotionModelDynamicsBase< SysState< 3 >, DynamicsMatrixDescriptor, std::map< std::string, std::any > >::state_type	state_type
	The type of the state handled by this dynamics object.

typedef MotionModelDynamicsBase< SysState< 3 >, DynamicsMatrixDescriptor, std::map< std::string, std::any > >::input_type	input_type
	input_t The type of the input for solving the dynamics

typedef MotionModelDynamicsBase< SysState< 3 >, DynamicsMatrixDescriptor, std::map< std::string, std::any > >::matrix_type	matrix_type
	matrix_t Matrix type that describes the dynamics

typedef MotionModelDynamicsBase< SysState< 3 >, DynamicsMatrixDescriptor, std::map< std::string, std::any > >::vector_type	vector_type
	vector_t

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
	DiffDriveDynamics (DynamicVersion type=DynamicVersion::V1, bool update_description_matrices_on_evaluate=true)
	Constructor.

	DiffDriveDynamics (state_type &&state)
	Constructor.

virtual state_type &	evaluate (const input_type &input) override
	Evaluate the new state using the given input it also updates the various matrices if needed.

void	integrate (const input_type &input)
	Integrate the new state. It also uses error terms.

real_t	get_x_position () const
	Read the x-coordinate.

void	set_x_position (real_t x)
	Set the x-coordinate.

real_t	get_y_position () const
	Read the y-coordinate.

void	set_y_position (real_t y)
	Set the y-coordinate.

real_t	get_orientation () const
	Read the y-coordinate.

void	set_orientation (real_t theta)
	Set the orientation.

real_t	get_velocity () const
	get_velocity Returns the velocity used for integration

real_t	get_angular_velocity () const
	get_velocity Returns the angular velocity used for integration

void	update_matrices (const input_type &input)
	updates the matrices used to describe this motion model

void	initialize_matrices (const input_type &input)
	Initialize the matrices describing the the dynamics.

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()

Static Public Member Functions
static SysState< 3 >	integrate_state_v1 (const SysState< 3 > &state, real_t tol, real_t dt, real_t v, real_t w, const std::array< real_t, 2 > &errors)
	integrate_state_v1

static SysState< 3 >	integrate_state_v2 (const SysState< 3 > &state, real_t dt, real_t v, real_t w, const std::array< real_t, 2 > &errors)
	integrate_state_v2

static SysState< 3 >	integrate_state_v3 (const SysState< 3 > &state, real_t r, real_t l, real_t dt, real_t w1, real_t w2, const std::array< real_t, 2 > &errors)
	integrate_state_v3

static SysState< 3 >	integrate (const SysState< 3 > &state, const input_type &input, const DynamicVersion version)
	integrate Factory method to apply the different integration methods

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

DiffDriveDynamics class. Describes the motion dynamics of a differential drive system. It implements the following equations.

Member Typedef Documentation

◆ input_type

typedef MotionModelDynamicsBase<SysState<3>,DynamicsMatrixDescriptor,std::map<std::string,std::any>>::input_type bitrl::dynamics::DiffDriveDynamics::input_type

input_t The type of the input for solving the dynamics

◆ matrix_type

typedef MotionModelDynamicsBase<SysState<3>,DynamicsMatrixDescriptor,std::map<std::string,std::any>>::matrix_type bitrl::dynamics::DiffDriveDynamics::matrix_type

matrix_t Matrix type that describes the dynamics

◆ state_type

typedef MotionModelDynamicsBase<SysState<3>,DynamicsMatrixDescriptor,std::map<std::string,std::any>>::state_type bitrl::dynamics::DiffDriveDynamics::state_type

The type of the state handled by this dynamics object.

◆ vector_type

typedef MotionModelDynamicsBase<SysState<3>,DynamicsMatrixDescriptor,std::map<std::string,std::any>>::vector_type bitrl::dynamics::DiffDriveDynamics::vector_type

vector_t

Member Enumeration Documentation

◆ DynamicVersion

enum class bitrl::dynamics::DiffDriveDynamics::DynamicVersion

strong

The DynamicVersion enum. Helper enum to disambiguate the two supplied configurations.

Enumerator
V1
V2
V3

Constructor & Destructor Documentation

◆ DiffDriveDynamics() [1/2]

bitrl::dynamics::DiffDriveDynamics::DiffDriveDynamics	(	DiffDriveDynamics::DynamicVersion	type = `DynamicVersion::V1`,
		bool	update_description_matrices_on_evaluate = `true`
	)

explicit

Constructor.

◆ DiffDriveDynamics() [2/2]

bitrl::dynamics::DiffDriveDynamics::DiffDriveDynamics ( DiffDriveDynamics::state_type && state )

explicit

Constructor.

Member Function Documentation

◆ evaluate()

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

overridevirtual

Evaluate the new state using the given input it also updates the various matrices if needed.

◆ get_angular_velocity()

real_t bitrl::dynamics::DiffDriveDynamics::get_angular_velocity ( ) const

inline

get_velocity Returns the angular velocity used for integration

◆ get_orientation()

real_t bitrl::dynamics::DiffDriveDynamics::get_orientation ( ) const

inline

Read the y-coordinate.

◆ get_velocity()

real_t bitrl::dynamics::DiffDriveDynamics::get_velocity ( ) const

inline

get_velocity Returns the velocity used for integration

◆ get_x_position()

real_t bitrl::dynamics::DiffDriveDynamics::get_x_position ( ) const

inline

Read the x-coordinate.

◆ get_y_position()

real_t bitrl::dynamics::DiffDriveDynamics::get_y_position ( ) const

inline

Read the y-coordinate.

◆ initialize_matrices()

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

Initialize the matrices describing the the dynamics.

◆ integrate() [1/2]

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

Integrate the new state. It also uses error terms.

◆ integrate() [2/2]

SysState< 3 > bitrl::dynamics::DiffDriveDynamics::integrate	(	const SysState< 3 > &	state,
		const input_type &	input,
		const DynamicVersion	version
	)

static

integrate Factory method to apply the different integration methods

◆ integrate_state_v1()

SysState< 3 > bitrl::dynamics::DiffDriveDynamics::integrate_state_v1	(	const SysState< 3 > &	state,
		real_t	tol,
		real_t	dt,
		real_t	v,
		real_t	w,
		const std::array< real_t, 2 > &	errors
	)

static

integrate_state_v1

assume zero angular velocity

clip the value

◆ integrate_state_v2()

SysState< 3 > bitrl::dynamics::DiffDriveDynamics::integrate_state_v2	(	const SysState< 3 > &	state,
		real_t	dt,
		real_t	v,
		real_t	w,
		const std::array< real_t, 2 > &	errors
	)

static

integrate_state_v2

◆ integrate_state_v3()

SysState< 3 > bitrl::dynamics::DiffDriveDynamics::integrate_state_v3	(	const SysState< 3 > &	state,
		real_t	r,
		real_t	l,
		real_t	dt,
		real_t	w1,
		real_t	w2,
		const std::array< real_t, 2 > &	errors
	)

static

integrate_state_v3

◆ set_orientation()

void bitrl::dynamics::DiffDriveDynamics::set_orientation ( real_t theta )

inline

Set the orientation.

◆ set_x_position()

void bitrl::dynamics::DiffDriveDynamics::set_x_position ( real_t x )

inline

Set the x-coordinate.

◆ set_y_position()

void bitrl::dynamics::DiffDriveDynamics::set_y_position ( real_t y )

inline

Set the y-coordinate.

◆ update_matrices()

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

updates the matrices used to describe this motion model

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

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

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ input_type

◆ matrix_type

◆ state_type

◆ vector_type

Member Enumeration Documentation

◆ DynamicVersion

Constructor & Destructor Documentation

◆ DiffDriveDynamics() [1/2]

◆ DiffDriveDynamics() [2/2]

Member Function Documentation

◆ evaluate()

◆ get_angular_velocity()

◆ get_orientation()

◆ get_velocity()

◆ get_x_position()

◆ get_y_position()

◆ initialize_matrices()

◆ integrate() [1/2]

◆ integrate() [2/2]

◆ integrate_state_v1()

◆ integrate_state_v2()

◆ integrate_state_v3()

◆ set_orientation()

◆ set_x_position()

◆ set_y_position()

◆ update_matrices()