mppi::MotionModel Class Reference

Abstract pluginlib class 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.
virtual void	initialize (ParametersHandler *, const std::string &)
	Initialize motion model on bringup. More...
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...
virtual bool	isHolonomic () const =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 Member Functions
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
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
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

Abstract pluginlib class for modeling a vehicle.

Definition at line 39 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 179 of file motion_models.hpp.

applyDelayShift()

void mppi::MotionModel::applyDelayShift ( models::State &  state, bool  is_holo, unsigned int  offset_vx, unsigned int  offset_vy, unsigned int  offset_wz  ) const

inlineprotected

Apply the per-axis input-delay shift to velocity rollout.

For j in [1, offset) — the delay window — fill dst with history[j]

Definition at line 187 of file motion_models.hpp.

Referenced by predict().

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initialize()

virtual void mppi::MotionModel::initialize ( ParametersHandler *  , const std::string &    )

inlinevirtual

Initialize motion model on bringup.

Parameters

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

Reimplemented in mppi::AckermannMotionModel.

Definition at line 57 of file motion_models.hpp.

isHolonomic()

virtual bool mppi::MotionModel::isHolonomic ( ) const

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 108 of file motion_models.hpp.

References applyDelayShift(), and isHolonomic().

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setConstraints()

void mppi::MotionModel::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  )

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 67 of file motion_models.hpp.

References offsetSteps().

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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 250 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