ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
ap_vehicle.h
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1 /********************************************************************************
2  * Copyright (C) 2017-2020 German Aerospace Center (DLR).
3  * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
4  *
5  * This program and the accompanying materials are made available under the
6  * terms of the Eclipse Public License 2.0 which is available at
7  * http://www.eclipse.org/legal/epl-2.0.
8  *
9  * SPDX-License-Identifier: EPL-2.0
10  *
11  * Contributors:
12  * Jan Lauermann - initial API and implementation
13  ********************************************************************************/
14 
15 #pragma once
16 
17 #include <string>
18 
19 namespace adore
20 {
21  namespace params
22  {
23 
28  class APVehicle
29  {
30 
31  public:
33  virtual std::string get_vehicle_id()const =0;
34 
36  virtual double get_a()const =0;
37 
39  virtual double get_b()const =0;
40 
42  virtual double get_c()const =0;
43 
45  virtual double get_d()const =0;
46 
48  virtual double get_m()const =0;
49 
51  virtual double get_mu()const =0;
52 
54  virtual double get_g()const =0;
55 
57  virtual double get_h()const =0;
58 
60  virtual double get_cf()const =0;
61 
63  virtual double get_cr()const =0;
64 
66  virtual double get_Iz_m()const =0;
67 
69  virtual double get_wf()const =0;
70 
72  virtual double get_wr()const =0;
73 
74  virtual double get_bodyWidth()const =0;
75  virtual double get_steeringRatio()const =0;
76  virtual double get_steeringAngleOffsetMeasured()const =0;
77  virtual double get_steeringAngleOffsetCommand()const =0;
78  virtual double get_steeringAngleMax()const=0;
79  virtual double get_steeringAngleMin()const=0;
80 
82  virtual double get_C()const =0;
83 
85  virtual double get_brakeBalanceFront()const =0;
86 
88  virtual double get_accelerationBalanceFront()const =0;
89 
90  virtual double get_observationPointForPosition()const =0;
91  virtual double get_observationPointForVelocity()const =0;
92  virtual double get_observationPointForAcceleration()const =0;
93 
95  virtual double get_vehicleFlag()const =0;
96  };
97  }
98 }
abstract class for vehicle configuration related paremeters
Definition: ap_vehicle.h:29
virtual double get_h() const =0
cog height above ground
virtual double get_steeringAngleMin() const =0
virtual double get_accelerationBalanceFront() const =0
returns the percentage of acceleration force allocated to the front axle, e.g. 1.0 for front drive
virtual double get_observationPointForVelocity() const =0
virtual double get_m() const =0
mass
virtual double get_wf() const =0
track width front
virtual double get_steeringAngleOffsetMeasured() const =0
virtual double get_mu() const =0
friction coefficient
virtual double get_cr() const =0
rear normalized tire stiffness for bicycle model
virtual double get_wr() const =0
track width rear
virtual double get_brakeBalanceFront() const =0
returns the percentage of brake force allocated to the front axle, e.g. 0.6 is a typical value
virtual double get_vehicleFlag() const =0
returns the flag of currently used vehicle
virtual double get_Iz_m() const =0
rotational inertia around up axis devided by mass
virtual double get_b() const =0
rear axle to cog
virtual double get_steeringAngleOffsetCommand() const =0
virtual std::string get_vehicle_id() const =0
ID of current vehicle.
virtual double get_observationPointForPosition() const =0
virtual double get_C() const =0
unnormalized cornering stiffness
virtual double get_bodyWidth() const =0
virtual double get_observationPointForAcceleration() const =0
virtual double get_steeringRatio() const =0
virtual double get_d() const =0
rear border to rear axle
virtual double get_steeringAngleMax() const =0
virtual double get_a() const =0
cog to front axle
virtual double get_c() const =0
front axle to front border
virtual double get_cf() const =0
front normalized tire stiffness for bicycle model
virtual double get_g() const =0
gravitational constant
Definition: areaofeffectconverter.h:20