#include <bulletrccar1.h>

Inheritance diagram for gcop::Bulletrccar1:

Collaboration diagram for gcop::Bulletrccar1:

Public Member Functions
	Bulletrccar1 (BulletWorld &m_world, vector< double > *zs_=0)
	~Bulletrccar1 ()
double	Step (Vector4d &xb, double t, const Vector4d &xa, const Vector2d &u, double h, const VectorXd p, Matrix4d A=0, Matrix42d B=0, Matrix4pd C=0)
double	Step1 (Vector4d &xb, const Vector2d &u, double h, const VectorXd p=0, Matrix4d A=0, Matrix42d B=0, Matrix4pd C=0)
double	Step3 (Vector4d &xb, const Vector2d &u, const Vector4d &w, double h, const VectorXd p=0, Matrix4d A=0, Matrix42d B=0, Matrix4pd C=0, Matrix4d *D=0)
bool	reset (const Vector4d &x, double t=0)
bool	NoiseMatrix (Matrix4d &Q, double t, const Vector4d &x, const Vector2d &u, double dt, const VectorXd *p)
Public Attributes
int	rightIndex
	right of the car index in terms of x,y,z assigns the coordinate sys of car
int	upIndex
int	forwardIndex
double	carmass
btVector3	car_halfdims
double	gEngineForce
double	gBreakingForce
double	maxEngineForce
double	maxBreakingForce
double	gVehicleSteering
double	steeringClamp
double	torqueClamp
double	wheelRadius
double	wheelWidth
double	wheelFriction
double	suspensionStiffness
double	suspensionDamping
double	suspensionCompression
double	rollInfluence
btScalar	suspensionRestLength
btScalar	m_defaultContactProcessingThreshold
btVector3	wheelDirectionCS0
btVector3	wheelAxleCS
double	initialz
double	kp_steer
btTransform	offsettrans
btTransform	offsettransinv
vector< double > *	zs
	Height of the rccar only used for visualization only x and y are used in optimization.
int	count_zs
bool	reset_drivevel
	Used to make sure the velocity of the chassis is used just after reset instead of vehicle vel.
btRigidBody *	m_carChassis
btRaycastVehicle *	m_vehicle
btCollisionShape *	m_wheelShape
btRaycastVehicle::btVehicleTuning	m_tuning
btVehicleRaycaster *	m_vehicleRayCaster
BulletWorld &	m_world

Detailed Description

A simple rear-drive Rccar model with 2nd order dynamics.

The state is $\bm x = (x,y,\theta, v) \in\mathbb{R}^4$ and controls are $\bm u = (drive torque, steer_angles ) \in\mathbb{R}^5$

This uses bullet to propagate the dynamics of the car. To be consistent with bullet #TODO Add steering angle to state since, the control has been changed to cmded steering angle instead of true steering angle demos and OpenGL coordinate system, we use coordinate system of y being up, x being to right, z being to the back of the car. This may be weird but makes it simple for display purposes

Author: Marin Kobilarov marin(at)jhu.edu Modified: Gowtham Garimella

Constructor & Destructor Documentation

Bulletrccar1::Bulletrccar1	(	BulletWorld &	m_world,
		vector< double > *	zs_ = `0`
	)

never deactivate the vehicle from computing collisions etc. Usually the bodies are deactivated after some time if they are not moving

create wheel connections

References gcop::Manifold< T, _n >::bnd, car_halfdims, carmass, forwardIndex, gcop::BulletWorld::IsZupAxis(), gcop::Rccar::l, gcop::Manifold< T, _n >::lb, gcop::BulletWorld::LocalCreateRigidBody(), m_carChassis, gcop::BulletWorld::m_collisionShapes, gcop::BulletWorld::m_dynamicsWorld, m_tuning, m_vehicle, m_vehicleRayCaster, m_wheelShape, m_world, offsettrans, offsettransinv, rightIndex, rollInfluence, steeringClamp, suspensionCompression, suspensionDamping, suspensionRestLength, suspensionStiffness, torqueClamp, gcop::System< T, _nx, _nu, _np >::U, gcop::Manifold< T, _n >::ub, upIndex, wheelAxleCS, wheelDirectionCS0, wheelFriction, wheelRadius, and wheelWidth.

gcop::Bulletrccar1::~Bulletrccar1 ( ) [inline]

Member Function Documentation

bool Bulletrccar1::NoiseMatrix	(	Matrix4d &	Q,
		double	t,
		const Vector4d &	x,
		const Vector2d &	u,
		double	dt,
		const VectorXd *	p
	)

bool Bulletrccar1::reset	(	const Vector4d &	x,
		double	t = `0`
	)

References count_zs, gBreakingForce, gEngineForce, gVehicleSteering, initialz, gcop::BulletWorld::IsZupAxis(), m_carChassis, gcop::BulletWorld::m_dynamicsWorld, m_vehicle, m_world, gcop::BulletWorld::Reset(), reset_drivevel, gcop::System< T, _nx, _nu, _np >::t, gcop::System< T, _nx, _nu, _np >::x, and zs.

Referenced by Step().

double Bulletrccar1::Step	(	Vector4d &	xb,
		double	t,
		const Vector4d &	xa,
		const Vector2d &	u,
		double	h,
		const VectorXd *	p,
		Matrix4d *	A = `0`,
		Matrix42d *	B = `0`,
		Matrix4pd *	C = `0`
	)		`[virtual]`

Reimplemented from gcop::Rccar.

References reset(), and Step1().

double Bulletrccar1::Step1	(	Vector4d &	xb,
		const Vector2d &	u,
		double	h,
		const VectorXd *	p = `0`,
		Matrix4d *	A = `0`,
		Matrix42d *	B = `0`,
		Matrix4pd *	C = `0`
	)

References count_zs, gEngineForce, gVehicleSteering, gcop::Rccar::h, gcop::BulletWorld::IsZupAxis(), m_carChassis, gcop::BulletWorld::m_dynamicsWorld, m_vehicle, m_world, offsettrans, offsettransinv, steeringClamp, gcop::System< T, _nx, _nu, _np >::t, gcop::System< T, _nx, _nu, _np >::x, and zs.

Referenced by Step(), and Step3().

double Bulletrccar1::Step3	(	Vector4d &	xb,
		const Vector2d &	u,
		const Vector4d &	w,
		double	h,
		const VectorXd *	p = `0`,
		Matrix4d *	A = `0`,
		Matrix42d *	B = `0`,
		Matrix4pd *	C = `0`,
		Matrix4d *	D = `0`
	)