rml::VehicleModel Class Reference

Vehicle Model base class. More...

#include <VehicleModel.h>

Inheritance diagram for rml::VehicleModel:

Public Member Functions
	VehicleModel (const std::string id)
	Default constructor.
virtual	~VehicleModel ()
	Default destructor.
void	Jacobian (Eigen::Matrix6d J)
	Jacobian initialization.
Eigen::MatrixXd	Jacobian (const std::string &ID) noexcept(false)
	Method returning the jacobian related to the frame id in input.
void	PositionOnInertialFrame (const Eigen::TransformationMatrix &inertialF_T_vehicleF)
	Set the base position The method updates the internal base position state. This method should be called before the evaluate methods in order to have the updated values.
auto	PositionOnInertialFrame () const -> const Eigen::TransformationMatrix &
	Get the inertialF_T_vehicleF independently from the DOF of the vehicle.
auto	VelocityVector () -> Eigen::Vector6d &
	Set the base position The method updates the internal base velocity state. This method should be called before the evaluate methods in order to have the updated value.
auto	VelocityVector () const -> const Eigen::Vector6d &
	Get the complete 6D velocity, in the form of [x_dot y_dot z_dot wx wy wz], independently from the Dof of the vehicle.
auto	AccelerationVector () -> Eigen::Vector6d &
	set the vehicle acceleration expressed wrt to the vehicle frame
auto	AccelerationVector () const -> const Eigen::Vector6d &
	Method returning the acceleration wrt to the vehicle frame.
void	AttachRigidBodyFrame (const std::string &frameID, const Eigen::TransformationMatrix &vehicleF_T_frameID)
	Method adding a rigid body frame to the vehicle.
Eigen::TransformationMatrix	TransformationMatrix (const std::string &frameID) noexcept(false)
	Method returning the transformation matrix related to the frame id in input.
Eigen::TransformationMatrix	TransformationMatrix (const std::string &frameID_j, const std::string &frameID_k)
	Method returing a transformation matrix from frameID_j to frameID_k, i.e. jTk.
auto	IsModelInizialized () const -> bool
	Method returning whether the model is initialized.
auto	ControlVector () const -> const Eigen::Vector6d &
	Method returning the vehicle control vector.
auto	ControlVector () -> Eigen::Vector6d &
	Method setting the control vector.
auto	ID () -> std::string &
	Method setting the id.
auto	ID () const -> const std::string &
	Method returning the id.

Protected Attributes
bool	modelInitialized_
	boolean stating whether the model is initialized
bool	isMapInitialized_
	boolean stating whether the transformation and jacobian maps are initialized
std::unordered_map< std::string, Eigen::TransformationMatrix >	rigidBodyFrames_
	map of the attached body frames
Eigen::TransformationMatrix	inertialF_T_vehicleF_
	vehicle position w.r.t the inertial frame
Eigen::Vector6d	velocity_
	vehicle velocity
Eigen::Vector6d	acceleration_
	vehicle acceleration
Eigen::Vector6d	controlRef_
	vehicle control vector
std::unordered_map< std::string, Eigen::MatrixXd >	jacobians_
	map of vehicle jacobians
std::unordered_map< std::string, Eigen::TransformationMatrix >	transformation_
	map of vehicle transformations
Eigen::Matrix6d	vJv_
	vehicle jacobians
Eigen::RotationMatrix	I3_
	identity matrix
std::string	id_
	vehicle id

Detailed Description

Vehicle Model base class.

This class implements a base vehicle model class, it is used in the RobotModel class in order to implement the manipulators moving platform.

Constructor & Destructor Documentation

VehicleModel()

rml::VehicleModel::VehicleModel

(

const std::string

id

)

Default constructor.

Parameters

[in]

id

VehicleModel id.

~VehicleModel()

virtual rml::VehicleModel::~VehicleModel ( )

virtual

Default destructor.

Member Function Documentation

AccelerationVector() [1/2]

auto rml::VehicleModel::AccelerationVector ( ) -> Eigen::Vector6d&

inline

set the vehicle acceleration expressed wrt to the vehicle frame

Parameters

fbkAcc

vehicle acceleration

AccelerationVector() [2/2]

auto rml::VehicleModel::AccelerationVector ( ) const -> const Eigen::Vector6d&

inline

Method returning the acceleration wrt to the vehicle frame.

Returns

acceleration vector

AttachRigidBodyFrame()

void rml::VehicleModel::AttachRigidBodyFrame	(	const std::string &	frameID,
		const Eigen::TransformationMatrix &	vehicleF_T_frameID
	)

Method adding a rigid body frame to the vehicle.

Parameters

ID	Id of the frame.
TMat	Transformation matrix of the frame.

ControlVector() [1/2]

auto rml::VehicleModel::ControlVector ( ) -> Eigen::Vector6d&

inline

Method setting the control vector.

Parameters

controlRef

control vector.

ControlVector() [2/2]

auto rml::VehicleModel::ControlVector ( ) const -> const Eigen::Vector6d&

inline

Method returning the vehicle control vector.

Returns

vehicle control vector

ID() [1/2]

auto rml::VehicleModel::ID ( ) -> std::string&

inline

Method setting the id.

Parameters

id	vehicle id.

ID() [2/2]

auto rml::VehicleModel::ID ( ) const -> const std::string&

inline

Method returning the id.

Returns

vehicle id.

IsModelInizialized()

auto rml::VehicleModel::IsModelInizialized ( ) const -> bool

inline

Method returning whether the model is initialized.

Returns

true if the model is initialized, false otherwise.

Jacobian() [1/2]

Eigen::MatrixXd rml::VehicleModel::Jacobian

(

const std::string &

ID

)

Method returning the jacobian related to the frame id in input.

Parameters

ID

frame id.

Returns

transformation matrix.

Jacobian() [2/2]

void rml::VehicleModel::Jacobian

(

Eigen::Matrix6d

J

)

Jacobian initialization.

PositionOnInertialFrame() [1/2]

auto rml::VehicleModel::PositionOnInertialFrame ( ) const -> const Eigen::TransformationMatrix&

inline

Get the inertialF_T_vehicleF independently from the DOF of the vehicle.

Returns

inertialF_T_vehicleF the postion of the vehicle w.r.t the inertial frame

PositionOnInertialFrame() [2/2]

void rml::VehicleModel::PositionOnInertialFrame

(

const Eigen::TransformationMatrix &

inertialF_T_vehicleF

)

Set the base position The method updates the internal base position state. This method should be called before the evaluate methods in order to have the updated values.

Parameters

[in]

inertialF_T_vehicleF

the postion of the vehicle w.r.t the inertial frame

TransformationMatrix() [1/2]

Eigen::TransformationMatrix rml::VehicleModel::TransformationMatrix

(

const std::string &

frameID

)

Method returning the transformation matrix related to the frame id in input.

Parameters

ID

frame id.

Returns

transformation matrix.

TransformationMatrix() [2/2]

Eigen::TransformationMatrix rml::VehicleModel::TransformationMatrix	(	const std::string &	frameID_j,
		const std::string &	frameID_k
	)

Method returing a transformation matrix from frameID_j to frameID_k, i.e. jTk.

Parameters

[in]	frameID_j	first frame;
[in]	framID_k	second frame;

Returns

Transformation Matrix jTk.

VelocityVector() [1/2]

auto rml::VehicleModel::VelocityVector ( ) -> Eigen::Vector6d&

inline

Set the base position The method updates the internal base velocity state. This method should be called before the evaluate methods in order to have the updated value.

VelocityVector() [2/2]

auto rml::VehicleModel::VelocityVector ( ) const -> const Eigen::Vector6d&

inline

Get the complete 6D velocity, in the form of [x_dot y_dot z_dot wx wy wz], independently from the Dof of the vehicle.

Returns

The vehicle velocity

Member Data Documentation

acceleration_

Eigen::Vector6d rml::VehicleModel::acceleration_

protected

vehicle acceleration

controlRef_

Eigen::Vector6d rml::VehicleModel::controlRef_

protected

vehicle control vector

I3_

Eigen::RotationMatrix rml::VehicleModel::I3_

protected

identity matrix

id_

std::string rml::VehicleModel::id_

protected

vehicle id

inertialF_T_vehicleF_

Eigen::TransformationMatrix rml::VehicleModel::inertialF_T_vehicleF_

protected

vehicle position w.r.t the inertial frame

isMapInitialized_

bool rml::VehicleModel::isMapInitialized_

protected

boolean stating whether the transformation and jacobian maps are initialized

jacobians_

std::unordered_map<std::string, Eigen::MatrixXd> rml::VehicleModel::jacobians_

protected

map of vehicle jacobians

modelInitialized_

bool rml::VehicleModel::modelInitialized_

protected

boolean stating whether the model is initialized

rigidBodyFrames_

std::unordered_map<std::string, Eigen::TransformationMatrix> rml::VehicleModel::rigidBodyFrames_

protected

map of the attached body frames

transformation_

std::unordered_map<std::string, Eigen::TransformationMatrix> rml::VehicleModel::transformation_

protected

map of vehicle transformations

velocity_

Eigen::Vector6d rml::VehicleModel::velocity_

protected

vehicle velocity

vJv_

Eigen::Matrix6d rml::VehicleModel::vJv_

protected

vehicle jacobians

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

• VehicleModel.h