#include <rccar1.h>

Inheritance diagram for gcop::Rccar1:

Collaboration diagram for gcop::Rccar1:

Public Member Functions
	Rccar1 ()
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	bind (const double &input, int index)
Public Attributes
double	msteer
double	csteer
	Transform for converting input into steering angle.
double	mdrive
double	cdrive
	Transform for converting input into desired velocity.
double	ktorque
	Proportional constant for how much torque is applied for matching the current velocity with the desired velocity.

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

Rccar1::Rccar1 ( )

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

double gcop::Rccar1::bind	(	const double &	input,
		int	index
	)		`[inline]`

Referenced by Step().

double Rccar1::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]`