autoware::motion::planning::parking_planner::BicycleModel< T, V > Class Template Reference

Class implementing a kinematic bicycle model. More...

#include <bicycle_model.hpp>

Public Member Functions
	BicycleModel (BicycleModelParameters< V > parameters)
VehicleStateDerivative< T >	dynamics (VehicleState< T > states, VehicleCommand< T > commands) const
	Evaluate the dynamics for given states and commands. More...
VehicleStateDerivative< T >	integrated_dynamics (VehicleState< T > states, VehicleCommand< T > commands, const float64_t stepsize, const std::size_t number_of_steps) const
	Evaluate the integrated dynamics for given states and commands. A runge-kutta integration scheme is used. More...
std::vector< T >	dynamics_serialized (std::vector< T > serialized_states, std::vector< T > serialized_commands) const
	Serialized version of the continuous-time dynamics evaluation. See the help of the dynamics function for more info. More...
Polytope2D< T >	compute_bounding_box (VehicleState< T > states) const
	compute a bounding box of a given vehicle model for given states. More...

Detailed Description

template<typename T, typename V>
class autoware::motion::planning::parking_planner::BicycleModel< T, V >

Class implementing a kinematic bicycle model.

Constructor & Destructor Documentation

BicycleModel()

template<typename T , typename V >

autoware::motion::planning::parking_planner::BicycleModel< T, V >::BicycleModel ( BicycleModelParameters< V >  parameters )

inlineexplicit

Member Function Documentation

compute_bounding_box()

template<typename T , typename V >

Polytope2D<T> autoware::motion::planning::parking_planner::BicycleModel< T, V >::compute_bounding_box ( VehicleState< T >  states ) const

inline

compute a bounding box of a given vehicle model for given states.

Parameters

[in]

states

States to compute a bounding box for

Returns

The computed bounding box

dynamics()

template<typename T , typename V >

VehicleStateDerivative<T> autoware::motion::planning::parking_planner::BicycleModel< T, V >::dynamics ( VehicleState< T >  states, VehicleCommand< T >  commands  ) const

inline

Evaluate the dynamics for given states and commands.

Parameters

[in]	states	The current state of the vehicle
[in]	commands	The commands to be applied to the vehicle

Returns

The (continous-time) derivative of the dynamics.

dynamics_serialized()

template<typename T , typename V >

std::vector<T> autoware::motion::planning::parking_planner::BicycleModel< T, V >::dynamics_serialized ( std::vector< T >  serialized_states, std::vector< T >  serialized_commands  ) const

inline

Serialized version of the continuous-time dynamics evaluation. See the help of the dynamics function for more info.

Parameters

[in]	serialized_states	Serialized states
[in]	serialized_commands	Serialized commands

Returns

The serialized integrated states

integrated_dynamics()

template<typename T , typename V >

VehicleStateDerivative<T> autoware::motion::planning::parking_planner::BicycleModel< T, V >::integrated_dynamics ( VehicleState< T >  states, VehicleCommand< T >  commands, const float64_t  stepsize, const std::size_t  number_of_steps  ) const

inline

Evaluate the integrated dynamics for given states and commands. A runge-kutta integration scheme is used.

Parameters

[in]	states	The current state of the vehicle
[in]	commands	The commands to be applied to the vehicle
[in]	stepsize	Integration step size in seconds
[in]	number_of_steps	Number of steps to integrate for

Returns

The integrated state

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

• bicycle_model.hpp