mppi::AckermannMotionModel Class Reference

Ackermann motion model. More...

#include <nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp>

Inheritance diagram for mppi::AckermannMotionModel:

Collaboration diagram for mppi::AckermannMotionModel:

Public Member Functions
	AckermannMotionModel (ParametersHandler *param_handler, const std::string &name)
	Constructor for mppi::AckermannMotionModel.
bool	isHolonomic () override
	Whether the motion model is holonomic, using Y axis. More...
void	applyConstraints (models::ControlSequence &control_sequence) override
	Apply hard vehicle constraints to a control sequence. More...
float	getMinTurningRadius ()
	Get minimum turning radius of ackermann drive. More...
Public Member Functions inherited from mppi::MotionModel
	MotionModel ()=default
	Constructor for mppi::MotionModel.
virtual	~MotionModel ()=default
	Destructor for mppi::MotionModel.
void	initialize (const models::ControlConstraints &control_constraints, float model_dt)
	Initialize motion model on bringup and set required variables. More...
virtual void	predict (models::State &state)
	With input velocities, find the vehicle's output velocities. More...

Additional Inherited Members
Protected Attributes inherited from mppi::MotionModel
float	model_dt_ {0.0}
models::ControlConstraints	control_constraints_

Detailed Description

Ackermann motion model.

Definition at line 146 of file motion_models.hpp.

Member Function Documentation

applyConstraints()

void mppi::AckermannMotionModel::applyConstraints ( models::ControlSequence &  control_sequence )

inlineoverridevirtual

Apply hard vehicle constraints to a control sequence.

Parameters

control_sequence

Control sequence to apply constraints to

Reimplemented from mppi::MotionModel.

Definition at line 171 of file motion_models.hpp.

getMinTurningRadius()

float mppi::AckermannMotionModel::getMinTurningRadius ( )

inline

Get minimum turning radius of ackermann drive.

Returns

Minimum turning radius

Definition at line 184 of file motion_models.hpp.

isHolonomic()

bool mppi::AckermannMotionModel::isHolonomic ( )

inlineoverridevirtual

Whether the motion model is holonomic, using Y axis.

Returns

Bool If holonomic

Implements mppi::MotionModel.

Definition at line 162 of file motion_models.hpp.

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

• nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp