#include <rccar.h>

Inheritance diagram for gcop::Rccar:

Collaboration diagram for gcop::Rccar:

Public Member Functions
	Rccar (int np=2)
virtual 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)
virtual void	StateAndControlsToFlat (VectorXd &y, const Vector4d &x, const Vector2d &u)
virtual void	FlatToStateAndControls (Vector4d &x, Vector2d &u, const std::vector< VectorXd > &y)
Public Attributes
double	l
	distance between axles
double	r
	Gain on the car acc vs wheel torque.
double	h
	Internal step size.

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 $\bm u = (a, tan(phi) ) \in\mathbb{R}^5$ correspond to forward acceleration a and steering angle phi

Author: Marin Kobilarov marin(at)jhu.edu

Constructor & Destructor Documentation

Rccar::Rccar ( int np = 2 )

References gcop::Manifold< T, _n >::bnd, gcop::Manifold< T, _n >::lb, gcop::System< T, _nx, _nu, _np >::U, and gcop::Manifold< T, _n >::ub.

Member Function Documentation

void Rccar::FlatToStateAndControls	(	Vector4d &	x,
		Vector2d &	u,
		const std::vector< VectorXd > &	y
	)		`[virtual]`

References l, r, sgn, and gcop::System< T, _nx, _nu, _np >::x.

void Rccar::StateAndControlsToFlat	(	VectorXd &	y,
		const Vector4d &	x,
		const Vector2d &	u
	)		`[virtual]`

double Rccar::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]`