adore::apps::VehicleModel Class Reference

a vehicle model which can be used in simulations More...

#include <vehiclemodel.h>

Collaboration diagram for adore::apps::VehicleModel:

Public Member Functions
	VehicleModel (bool external_ego_measurement_models, adore::env::traffic::Participant::TTrackingID simulationID, adore::env::traffic::Participant::TV2XStationID v2xStationID)
	Construct a new Vehicle Model object. More...
void	setAutomaticControl (bool value)
	switches between manual and automatic control input More...
void	setCheckpointClearance ()
	confirmation of current checkout More...
void	setSupressInput (bool value)
	supress input to introduce errors, without deactivating automatic control More...
bool	setIndicatorRightOn (double duration)
bool	setIndicatorLeftOn (double duration)
virtual void	run ()
	simulation step of the vehicle model More...

Protected Attributes
adore::env::traffic::Participant::TTrackingID	simulationID_
adore::env::traffic::Participant::TV2XStationID	v2xStationID_

Private Attributes
params::APVehicle *	params_
double	last_time_
double	integration_step_
double	last_time_checkpoint_clearance_
bool	last_time_valid_
bool	automatic_control_
bool	checkpoint_clearance_
bool	supress_input_
double	indicator_left_off_from_
double	indicator_right_off_from_
adoreMatrix< double, 10, 1 >	x_
adore::fun::MotionCommand	u_
adore::mad::AReader< double > *	timer_
adore::mad::AReader< adore::fun::MotionCommand > *	control_input_
adore::mad::AWriter< adore::fun::VehicleMotionState9d > *	sim_output_
adore::mad::AWriter< adore::fun::VehicleMotionState9d > *	gps_output_
adore::mad::AWriter< adore::fun::VehicleMotionState9d > *	odom_output_
adore::mad::AWriter< adore::fun::VehicleExtendedState > *	extended_state_output_
adore::mad::AReader< adore::fun::IndicatorCommand > *	indstateReader_
adore::fun::IndicatorCommand	indicatorCommand_
adore::mad::OdeRK4< double >	solver_
adore::mad::AFeed< adore::sim::ResetVehiclePose > *	reset_pose_feed_
adore::mad::AFeed< adore::sim::ResetVehicleTwist > *	reset_twist_feed_
adore::sim::AFactory::TParticipantWriter *	participant_writer_

Detailed Description

a vehicle model which can be used in simulations

needs a timer, control_input, gps_output from adore::sim listens to reset_pose_feed and reset_twist_feed to reset pose/twist if requested uses run()-function to update

See also

adore::params::APVehicle on how to configure the vehicle model

VehicleModel::run()

Constructor & Destructor Documentation

VehicleModel()

adore::apps::VehicleModel::VehicleModel ( bool  external_ego_measurement_models, adore::env::traffic::Participant::TTrackingID  simulationID, adore::env::traffic::Participant::TV2XStationID  v2xStationID  )

inline

Construct a new Vehicle Model object.

Parameters

external_ego_measurement_models	if true, only simulated true vehicle state is published. if false, odom and localization are also published with same data.
sim_factory	adore::sim factory
paramfactory	adore::params factory
simulationID	id of vehicle in simulation

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Member Function Documentation

run()

virtual void adore::apps::VehicleModel::run ( )

inlinevirtual

simulation step of the vehicle model

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setAutomaticControl()

void adore::apps::VehicleModel::setAutomaticControl ( bool  value )

inline

switches between manual and automatic control input

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setCheckpointClearance()

void adore::apps::VehicleModel::setCheckpointClearance ( )

inline

confirmation of current checkout

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setIndicatorLeftOn()

bool adore::apps::VehicleModel::setIndicatorLeftOn ( double  duration )

inline

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setIndicatorRightOn()

bool adore::apps::VehicleModel::setIndicatorRightOn ( double  duration )

inline

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setSupressInput()

void adore::apps::VehicleModel::setSupressInput ( bool  value )

inline

supress input to introduce errors, without deactivating automatic control

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Member Data Documentation

automatic_control_

bool adore::apps::VehicleModel::automatic_control_

private

checkpoint_clearance_

bool adore::apps::VehicleModel::checkpoint_clearance_

private

control_input_

adore::mad::AReader<adore::fun::MotionCommand>* adore::apps::VehicleModel::control_input_

private

extended_state_output_

adore::mad::AWriter<adore::fun::VehicleExtendedState>* adore::apps::VehicleModel::extended_state_output_

private

< publishes ego state measurement inside vehicle

gps_output_

adore::mad::AWriter<adore::fun::VehicleMotionState9d>* adore::apps::VehicleModel::gps_output_

private

< publishes ego state measurement inside vehicle

indicator_left_off_from_

double adore::apps::VehicleModel::indicator_left_off_from_

private

indicator_right_off_from_

double adore::apps::VehicleModel::indicator_right_off_from_

private

< upper time bound for setting left indicator on

indicatorCommand_

adore::fun::IndicatorCommand adore::apps::VehicleModel::indicatorCommand_

private

indstateReader_

adore::mad::AReader<adore::fun::IndicatorCommand>* adore::apps::VehicleModel::indstateReader_

private

< publishes extended state values inside vehicle reads indicator commands

integration_step_

double adore::apps::VehicleModel::integration_step_

private

last_time_

double adore::apps::VehicleModel::last_time_

private

last_time_checkpoint_clearance_

double adore::apps::VehicleModel::last_time_checkpoint_clearance_

private

last_time_valid_

bool adore::apps::VehicleModel::last_time_valid_

private

odom_output_

adore::mad::AWriter<adore::fun::VehicleMotionState9d>* adore::apps::VehicleModel::odom_output_

private

< publishes ego state measurement inside vehicle

params_

params::APVehicle* adore::apps::VehicleModel::params_

private

participant_writer_

adore::sim::AFactory::TParticipantWriter* adore::apps::VehicleModel::participant_writer_

private

reset_pose_feed_

adore::mad::AFeed<adore::sim::ResetVehiclePose>* adore::apps::VehicleModel::reset_pose_feed_

private

reset_twist_feed_

adore::mad::AFeed<adore::sim::ResetVehicleTwist>* adore::apps::VehicleModel::reset_twist_feed_

private

sim_output_

adore::mad::AWriter<adore::fun::VehicleMotionState9d>* adore::apps::VehicleModel::sim_output_

private

simulationID_

adore::env::traffic::Participant::TTrackingID adore::apps::VehicleModel::simulationID_

protected

< publishes vehicle state globally

solver_

adore::mad::OdeRK4<double> adore::apps::VehicleModel::solver_

private

supress_input_

bool adore::apps::VehicleModel::supress_input_

private

timer_

adore::mad::AReader<double>* adore::apps::VehicleModel::timer_

private

u_

adore::fun::MotionCommand adore::apps::VehicleModel::u_

private

v2xStationID_

adore::env::traffic::Participant::TV2XStationID adore::apps::VehicleModel::v2xStationID_

protected

x_

adoreMatrix<double,10,1> adore::apps::VehicleModel::x_

private

< upper time bound for setting right indicator on

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The documentation for this class was generated from the following file:

• /home/fascar/temp/adore/libadore/libadore/adore/apps/include/adore/apps/vehiclemodel.h