rml::YouBotVehicleModel Class Reference

#include <youbot_vehiclemodel.h>

Inheritance diagram for rml::YouBotVehicleModel:

Public Member Functions
	YouBotVehicleModel (const std::string id)
virtual	~YouBotVehicleModel ()
Public Member Functions inherited from rml::VehicleModel
	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.

Additional Inherited Members
Protected Attributes inherited from rml::VehicleModel
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

Constructor & Destructor Documentation

YouBotVehicleModel()

rml::YouBotVehicleModel::YouBotVehicleModel

(

const std::string

id

)

~YouBotVehicleModel()

virtual rml::YouBotVehicleModel::~YouBotVehicleModel ( )

virtual

---

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

• youbot_vehiclemodel.h