Detailed Description

This class can be used to simulate the kinematics and dynamics of a differential driven planar mobile robot, including odometry errors and dynamics limitations.

The main methods are:

movementCommand: Call this for send a command to the robot. This comamnd will be delayed and passed throught a first order low-pass filter to simulate robot dynamics.
simulateInterval: Call this for run the simulator for the desired time period.

Versions:

23/MAR/2009: (JLBC) Changed to reuse MRPT poses and methods renamed to conform to MRPT style.
29/AUG/2008: (JLBC) Added parameters for odometry noise.
27/JAN/2008: (JLBC) Translated to English!!! :-)
17/OCT/2005: (JLBC) Integration into the MRML library.
1/DIC/2004: (JLBC) Odometry, cumulative errors added.
18/JUN/2004: (JLBC) First creation.

Definition at line 60 of file CRobotSimulator.h.

#include <mrpt/utils/CRobotSimulator.h>

Public Member Functions
	CRobotSimulator (float TAU=0, float DELAY=0)
	Constructor with default dynamic model-parameters.

virtual	~CRobotSimulator ()
	Destructor.

void	setDelayModelParams (float TAU_delay_sec=1.8f, float CMD_delay_sec=0.3f)
	Change the model of delays used for the orders sent to the robot.

void	setOdometryErrors (bool enabled, double Ax_err_bias=1e-6, double Ax_err_std=10e-6, double Ay_err_bias=1e-6, double Ay_err_std=10e-6, double Aphi_err_bias=DEG2RAD(1e-6), double Aphi_err_std=DEG2RAD(10e-6))
	Enable/Disable odometry errors Errors in odometry are introduced per millisecond.

void	setRealPose (mrpt::poses::CPose2D &p)
	Reset actual robot pose (inmediately, without simulating the movement along time)

double	getX () const
	Read the instantaneous, error-free status of the simulated robot.

double	getY ()
	Read the instantaneous, error-free status of the simulated robot.

double	getPHI ()
	Read the instantaneous, error-free status of the simulated robot.

double	getT ()
	Read the instantaneous, error-free status of the simulated robot.

double	getV ()
	Read the instantaneous, error-free status of the simulated robot.

double	getW ()
	Read the instantaneous, error-free status of the simulated robot.

void	setV (double v)
	Set actual robot pose (inmediately, without simulating the movement along time) (Not to be called normally!!)

void	setW (double w)

void	movementCommand (double lin_vel, double ang_vel)
	Used to command the robot a desired movement (velocities)

void	resetStatus ()
	Reset all the simulator variables to 0 (All but current simulator time).

void	resetTime ()
	Reset time counter.

void	simulateInterval (double At)
	This method must be called periodically to simulate discrete time intervals.

void	resetOdometry (const mrpt::poses::CPose2D &newOdo=mrpt::poses::CPose2D())
	Forces odometry to be set to a specified values.

void	getOdometry (CPose2D &pose) const
	Reads the simulated robot odometry (this is NOT equal to the actual error-free robot coordinates).

void	getOdometry (TPose2D &pose) const
	Reads the simulated robot odometry (this is NOT equal to the actual error-free robot coordinates).

void	getRealPose (CPose2D &pose) const
	Reads the real robot pose.

void	getRealPose (TPose2D &pose) const
	Reads the real robot pose.

Private Attributes
mrpt::poses::CPose2D	m_pose
	Global, absolute and error-free robot coordinates.

mrpt::poses::CPose2D	m_odometry
	Used to simulate odometry (with optional error)

double	v
	Instantaneous velocity of the robot (linear, m/s)

double	w
	Instantaneous velocity of the robot (angular, rad/s)

double	t
	Simulation time variable.

bool	usar_error_odometrico
	Whether to corrupt odometry with noise.

double	Command_Time
	Dynamic limitations of the robot.

double	Command_v

double	Command_w

double	Command_v0

double	Command_w0

float	cTAU
	The time-constants for the first order low-pass filter for the velocities changes.

float	cDELAY
	The delay constant for the velocities changes.

double	m_Ax_err_bias

double	m_Ax_err_std

double	m_Ay_err_bias

double	m_Ay_err_std

double	m_Aphi_err_bias

double	m_Aphi_err_std

Constructor & Destructor Documentation

mrpt::utils::CRobotSimulator::CRobotSimulator	(	float	TAU = `0`,
		float	DELAY = `0`
	)

Constructor with default dynamic model-parameters.

virtual mrpt::utils::CRobotSimulator::~CRobotSimulator ( )

virtual

Destructor.

Member Function Documentation

void mrpt::utils::CRobotSimulator::getOdometry ( CPose2D & pose ) const

inline

Reads the simulated robot odometry (this is NOT equal to the actual error-free robot coordinates).

See Also: getRealPose

Definition at line 198 of file CRobotSimulator.h.

void mrpt::utils::CRobotSimulator::getOdometry ( TPose2D & pose ) const

inline

Reads the simulated robot odometry (this is NOT equal to the actual error-free robot coordinates).

See Also: getRealPose

Definition at line 205 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::getPHI ( )

inline

Read the instantaneous, error-free status of the simulated robot.

Definition at line 154 of file CRobotSimulator.h.

void mrpt::utils::CRobotSimulator::getRealPose ( CPose2D & pose ) const

inline

Reads the real robot pose.

See Also: getOdometry

Definition at line 210 of file CRobotSimulator.h.

void mrpt::utils::CRobotSimulator::getRealPose ( TPose2D & pose ) const

inline

Reads the real robot pose.

See Also: getOdometry

Definition at line 215 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::getT ( )

inline

Read the instantaneous, error-free status of the simulated robot.

Definition at line 158 of file CRobotSimulator.h.

References t().

double mrpt::utils::CRobotSimulator::getV ( )

inline

Read the instantaneous, error-free status of the simulated robot.

Definition at line 162 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::getW ( )

inline

Read the instantaneous, error-free status of the simulated robot.

Definition at line 165 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::getX ( ) const

inline

Read the instantaneous, error-free status of the simulated robot.

Definition at line 146 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::getY ( )

inline

Read the instantaneous, error-free status of the simulated robot.

Definition at line 150 of file CRobotSimulator.h.

void mrpt::utils::CRobotSimulator::movementCommand	(	double	lin_vel,
		double	ang_vel
	)

Used to command the robot a desired movement (velocities)

void mrpt::utils::CRobotSimulator::resetOdometry ( const mrpt::poses::CPose2D & newOdo = mrpt::poses::CPose2D() )

inline

Forces odometry to be set to a specified values.

Definition at line 191 of file CRobotSimulator.h.

void mrpt::utils::CRobotSimulator::resetStatus ( )

Reset all the simulator variables to 0 (All but current simulator time).

void mrpt::utils::CRobotSimulator::resetTime ( )

inline

Reset time counter.

Definition at line 183 of file CRobotSimulator.h.

References t().

void mrpt::utils::CRobotSimulator::setDelayModelParams	(	float	TAU_delay_sec = `1.8f`,
		float	CMD_delay_sec = `0.3f`
	)

inline

Change the model of delays used for the orders sent to the robot.

See Also: movementCommand

Definition at line 113 of file CRobotSimulator.h.

void mrpt::utils::CRobotSimulator::setOdometryErrors	(	bool	enabled,
		double	Ax_err_bias = `1e-6`,
		double	Ax_err_std = `10e-6`,
		double	Ay_err_bias = `1e-6`,
		double	Ay_err_std = `10e-6`,
		double	Aphi_err_bias = `DEG2RAD(1e-6)`,
		double	Aphi_err_std = `DEG2RAD(10e-6)`
	)

inline

Enable/Disable odometry errors Errors in odometry are introduced per millisecond.

Definition at line 121 of file CRobotSimulator.h.

void mrpt::utils::CRobotSimulator::setRealPose ( mrpt::poses::CPose2D & p )

inline

Reset actual robot pose (inmediately, without simulating the movement along time)

Definition at line 142 of file CRobotSimulator.h.

void mrpt::utils::CRobotSimulator::setV ( double v )

inline

Set actual robot pose (inmediately, without simulating the movement along time) (Not to be called normally!!)

See Also: MovementCommand

Definition at line 170 of file CRobotSimulator.h.

void mrpt::utils::CRobotSimulator::setW ( double w )

inline

Definition at line 171 of file CRobotSimulator.h.

void mrpt::utils::CRobotSimulator::simulateInterval ( double At )

This method must be called periodically to simulate discrete time intervals.

Member Data Documentation

float mrpt::utils::CRobotSimulator::cDELAY

private

The delay constant for the velocities changes.

Definition at line 97 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::Command_Time

private

Dynamic limitations of the robot.

Approximation to non-infinity motor forces: A first order low-pass filter, using: Command_Time: Time "t" when the last order was received. Command_v, Command_w: The user-desired velocities. Command_v0, Command_w0: Actual robot velocities at the moment of user request.

Definition at line 89 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::Command_v

private

Definition at line 89 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::Command_v0

private

Definition at line 89 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::Command_w

private

Definition at line 89 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::Command_w0

private

Definition at line 89 of file CRobotSimulator.h.

float mrpt::utils::CRobotSimulator::cTAU

private

The time-constants for the first order low-pass filter for the velocities changes.

Definition at line 94 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::m_Aphi_err_bias

private

Definition at line 101 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::m_Aphi_err_std

private

Definition at line 101 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::m_Ax_err_bias

private

Definition at line 99 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::m_Ax_err_std

private

Definition at line 99 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::m_Ay_err_bias

private

Definition at line 100 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::m_Ay_err_std

private

Definition at line 100 of file CRobotSimulator.h.

mrpt::poses::CPose2D mrpt::utils::CRobotSimulator::m_odometry

private

Used to simulate odometry (with optional error)

Definition at line 66 of file CRobotSimulator.h.

mrpt::poses::CPose2D mrpt::utils::CRobotSimulator::m_pose

private

Global, absolute and error-free robot coordinates.

Definition at line 65 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::t

private

Simulation time variable.

Definition at line 78 of file CRobotSimulator.h.

bool mrpt::utils::CRobotSimulator::usar_error_odometrico

private

Whether to corrupt odometry with noise.

Definition at line 81 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::v

private

Instantaneous velocity of the robot (linear, m/s)

Definition at line 70 of file CRobotSimulator.h.

double mrpt::utils::CRobotSimulator::w

private

Instantaneous velocity of the robot (angular, rad/s)

Definition at line 74 of file CRobotSimulator.h.

Detailed Description

Public Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation