mppi::MotionModel Class Reference

Abstract motion model for modeling a vehicle. More...

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

Inheritance diagram for mppi::MotionModel:

Collaboration diagram for mppi::MotionModel:

Public Member Functions
	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...
virtual bool	isHolonomic ()=0
	Whether the motion model is holonomic, using Y axis. More...
virtual void	applyConstraints (models::ControlSequence &)
	Apply hard vehicle constraints to a control sequence. More...

Protected Attributes
float	model_dt_ {0.0}
models::ControlConstraints	control_constraints_

Detailed Description

Abstract motion model for modeling a vehicle.

Definition at line 45 of file motion_models.hpp.

Member Function Documentation

applyConstraints()

virtual void mppi::MotionModel::applyConstraints ( models::ControlSequence &  )

inlinevirtual

Apply hard vehicle constraints to a control sequence.

Parameters

control_sequence

Control sequence to apply constraints to

Reimplemented in mppi::AckermannMotionModel.

Definition at line 127 of file motion_models.hpp.

initialize()

void mppi::MotionModel::initialize ( const models::ControlConstraints &  control_constraints, float  model_dt  )

inline

Initialize motion model on bringup and set required variables.

Parameters

control_constraints	Constraints on control
model_dt	duration of a time step

Definition at line 63 of file motion_models.hpp.

isHolonomic()

virtual bool mppi::MotionModel::isHolonomic ( )

pure virtual

Whether the motion model is holonomic, using Y axis.

Returns

Bool If holonomic

Implemented in mppi::OmniMotionModel, mppi::DiffDriveMotionModel, and mppi::AckermannMotionModel.

Referenced by predict().

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predict()

virtual void mppi::MotionModel::predict ( models::State &  state )

inlinevirtual

With input velocities, find the vehicle's output velocities.

Parameters

state

Contains control velocities to use to populate vehicle velocities

Definition at line 73 of file motion_models.hpp.

References isHolonomic().

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Member Data Documentation

control_constraints_

models::ControlConstraints mppi::MotionModel::control_constraints_

protected

Initial value:

{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
    0.0f, 0.0f}

Definition at line 131 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