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 ()=default
	Constructor for mppi::AckermannMotionModel.
void	initialize (ParametersHandler *param_handler, const std::string &plugin_name) override
	Initialize motion model. More...
bool	isHolonomic () const 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 () const
	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	setConstraints (const models::ControlConstraints &control_constraints, float model_dt, float model_delay_vx, float model_delay_vy, float model_delay_wz, bool clamp_raw_controls)
	Initialize motion model on bringup and set required variables. More...
void	pushCommandHistory (float vx, float vy, float wz)
	Push the most recently published command to the per-axis history ring buffers. Called once per controller cycle from the optimizer.
void	clearCommandHistory ()
	Zero the ring buffers.
virtual void	predict (models::State &state)
	With input velocities, find the vehicle's output velocities. More...

Additional Inherited Members
Protected Member Functions inherited from mppi::MotionModel
void	applyDelayShift (models::State &state, bool is_holo, unsigned int offset_vx, unsigned int offset_vy, unsigned int offset_wz) const
	Apply the per-axis input-delay shift to velocity rollout. More...
std::size_t	offsetSteps (float delay) const
	Convert a delay in seconds to an offset in number of rollout steps, rounding to the nearest step.
Static Protected Member Functions inherited from mppi::MotionModel
static void	pushOne (std::vector< float > &buf, float v)
	Push a value to the back of a ring buffer and rotate the elements.
Protected Attributes inherited from mppi::MotionModel
float	model_dt_ {0.0}
float	model_delay_vx_ {0.0}
float	model_delay_vy_ {0.0}
float	model_delay_wz_ {0.0}
bool	clamp_raw_controls_ {false}
std::vector< float >	cmd_history_vx_
std::vector< float >	cmd_history_vy_
std::vector< float >	cmd_history_wz_
models::ControlConstraints	control_constraints_

Detailed Description

Ackermann motion model.

Definition at line 258 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 292 of file motion_models.hpp.

getMinTurningRadius()

float mppi::AckermannMotionModel::getMinTurningRadius ( ) const

inline

Get minimum turning radius of ackermann drive.

Returns

Minimum turning radius

Definition at line 303 of file motion_models.hpp.

initialize()

void mppi::AckermannMotionModel::initialize ( ParametersHandler *  param_handler, const std::string &  plugin_name  )

inlineoverridevirtual

Initialize motion model.

Parameters

param_handler	Pointer to the shared parameters handler
plugin_name	Namespaced name of this plugin instance

Reimplemented from mppi::MotionModel.

Definition at line 271 of file motion_models.hpp.

References mppi::ParametersHandler::getParamGetter().

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isHolonomic()

bool mppi::AckermannMotionModel::isHolonomic ( ) const

inlineoverridevirtual

Whether the motion model is holonomic, using Y axis.

Returns

Bool If holonomic

Implements mppi::MotionModel.

Definition at line 283 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