#include <mbd_wheel_joint.h>

Inheritance diagram for OpenTissue::mbd::WheelJoint< mbd_types >:

Public Types
typedef mbd_types::math_policy	math_policy
typedef mbd_types::math_policy::index_type	size_type
typedef mbd_types::math_policy::real_type	real_type
typedef mbd_types::math_policy::vector_range	vector_range
typedef mbd_types::math_policy::vector3_type	vector3_type
typedef mbd_types::math_policy::matrix3x3_type	matrix3x3_type
typedef mbd_types::math_policy::quaternion_type	quaternion_type
typedef mbd_types::math_policy::idx_vector_range	idx_vector_range
typedef mbd_types::math_policy::matrix_range	matrix_range
typedef mbd_types::body_type	body_type
typedef mbd_types::math_policy::vector_type	vector_type
typedef mbd_types::math_policy::value_traits	value_traits
typedef AngularJointLimit < mbd_types >	angular_limit_type
typedef AngularJointMotor < mbd_types >	angular_motor_type
Public Member Functions
real_type	get_steering_angle () const
real_type	get_steering_rate () const
real_type	get_wheel_rate () const
vector3_type	get_steering_axis_world () const
vector3_type	get_motor_axis_world () const
body_type *	get_wheel_body () const
body_type *	get_car_body () const
void	set_suspension (real_type const &gamma, real_type const &erp)
real_type	get_suspension_cfm () const
real_type	get_suspension_erp () const
void	set_steering_limit (angular_limit_type const &limit)
void	set_steering_motor (angular_motor_type const &motor)
void	set_wheel_motor (angular_motor_type const &motor)
	WheelJoint ()
virtual	~WheelJoint ()
void	evaluate ()
size_type	get_number_of_jacobian_rows () const
void	get_linear_jacobian_A (matrix_range &J) const
void	get_linear_jacobian_B (matrix_range &J) const
void	get_angular_jacobian_A (matrix_range &J) const
void	get_angular_jacobian_B (matrix_range &J) const
void	get_stabilization_term (vector_range &b_error) const
void	get_low_limits (vector_range &lo) const
void	get_high_limits (vector_range &hi) const
void	get_dependency_indices (idx_vector_range &dep) const
void	get_dependency_factors (vector_range &factors) const
void	set_regularization (vector_range const &gamma)
void	get_regularization (vector_range &gamma) const
void	set_solution (vector_range const &solution)
void	get_solution (vector_range &solution) const
void	calibration ()
Protected Attributes
matrix3x3_type	m_R
	Rotation matrix from WCS to locla joint frame.
matrix3x3_type	m_J_A
	Angular part of jacobian of body A.
matrix3x3_type	m_J_B
	Angular part of jacobian of body B.
vector3_type	m_anc_A_wcs
	The anchor point wrt. to body A in WCS.
vector3_type	m_anc_B_wcs
	The anchor point wrt. to body B in WCS.
vector3_type	m_s
	Suspension axis in WCS.
vector3_type	m_t1
	Orthognal axis on suspension axis in WCS.
vector3_type	m_t2
	Orthognal axis on suspension and t1 axes in WCS.
real_type	m_erp_susp
	Error reduction parameter along suspension axis.
real_type	m_cfm_susp
	Constraint force mixing parameter along suspension axis.
real_type	m_cos_theta0
real_type	m_sin_theta0
real_type	m_cos_theta
real_type	m_sin_theta
vector3_type	m_v1
	X-axis, used when measuring steering angle.
vector3_type	m_v2
	Y-axis, used when measuring steering angle.
vector3_type	m_u
	Constraint axis.
size_type	m_rows
	Number of jacobian rows.
vector_type	m_gamma
	Local vector of constraint force mixing terms.
vector_type	m_solution
	Local solution vector, ie. vector of lagrange multipliers.
angular_limit_type *	m_limit
	Steering angle limits.
angular_motor_type *	m_motor1
	Steering axis motor.
angular_motor_type *	m_motor2
	Wheel motor.
size_type	m_limit_offset
size_type	m_motor_offset1
size_type	m_motor_offset2

Detailed Description

template<typename mbd_types>
class OpenTissue::mbd::WheelJoint< mbd_types >

A Wheel joint_type. body_type A is the Car object and body_type B is the wheel object.

For fast spinning wheels it is recommend to use:

if(m_wheel.get_wheel_body()) { m_wheel.get_wheel_body()->set_finite_rotation_axis(m_wheel.get_motor_axis_world()); }

This should be done before any position updates.

Member Typedef Documentation

template<typename mbd_types >

typedef AngularJointLimit<mbd_types> OpenTissue::mbd::WheelJoint< mbd_types >::angular_limit_type

template<typename mbd_types >

typedef AngularJointMotor<mbd_types> OpenTissue::mbd::WheelJoint< mbd_types >::angular_motor_type

template<typename mbd_types >

typedef mbd_types::body_type OpenTissue::mbd::WheelJoint< mbd_types >::body_type

template<typename mbd_types >

typedef mbd_types::math_policy::idx_vector_range OpenTissue::mbd::WheelJoint< mbd_types >::idx_vector_range

template<typename mbd_types >

typedef mbd_types::math_policy OpenTissue::mbd::WheelJoint< mbd_types >::math_policy

template<typename mbd_types >

typedef mbd_types::math_policy::matrix3x3_type OpenTissue::mbd::WheelJoint< mbd_types >::matrix3x3_type

template<typename mbd_types >

typedef mbd_types::math_policy::matrix_range OpenTissue::mbd::WheelJoint< mbd_types >::matrix_range

template<typename mbd_types >

typedef mbd_types::math_policy::quaternion_type OpenTissue::mbd::WheelJoint< mbd_types >::quaternion_type

template<typename mbd_types >

typedef mbd_types::math_policy::real_type OpenTissue::mbd::WheelJoint< mbd_types >::real_type

template<typename mbd_types >

typedef mbd_types::math_policy::index_type OpenTissue::mbd::WheelJoint< mbd_types >::size_type

template<typename mbd_types >

typedef mbd_types::math_policy::value_traits OpenTissue::mbd::WheelJoint< mbd_types >::value_traits

template<typename mbd_types >

typedef mbd_types::math_policy::vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::vector3_type

template<typename mbd_types >

typedef mbd_types::math_policy::vector_range OpenTissue::mbd::WheelJoint< mbd_types >::vector_range

template<typename mbd_types >

typedef mbd_types::math_policy::vector_type OpenTissue::mbd::WheelJoint< mbd_types >::vector_type

Constructor & Destructor Documentation

template<typename mbd_types >

OpenTissue::mbd::WheelJoint< mbd_types >::WheelJoint ( ) [inline]

template<typename mbd_types >

virtual OpenTissue::mbd::WheelJoint< mbd_types >::~WheelJoint ( ) [inline, virtual]

Member Function Documentation

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::calibration ( ) [inline, virtual]

joint_type Calibration Routine. This method is invoked implicitly whenever the joint connectivity is changed (alteration of anchor points or joint axes).

It can also be invoked directly by and end user if the incident body position and/or rotations is changed.

Implements OpenTissue::mbd::JointInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::evaluate ( ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_angular_jacobian_A ( matrix_range & J ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_angular_jacobian_B ( matrix_range & J ) const [inline]

template<typename mbd_types >

body_type* OpenTissue::mbd::WheelJoint< mbd_types >::get_car_body ( ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_dependency_factors ( vector_range & factors ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_dependency_indices ( idx_vector_range & dep ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_high_limits ( vector_range & hi ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_linear_jacobian_A ( matrix_range & J ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_linear_jacobian_B ( matrix_range & J ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_low_limits ( vector_range & lo ) const [inline]

template<typename mbd_types >

vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::get_motor_axis_world ( ) const [inline]

template<typename mbd_types >

size_type OpenTissue::mbd::WheelJoint< mbd_types >::get_number_of_jacobian_rows ( ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_regularization ( vector_range & gamma ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_solution ( vector_range & solution ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::get_stabilization_term ( vector_range & b_error ) const [inline]

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::get_steering_angle ( ) const [inline]

Computes and returns the steering angle.

That is (in world coordinates)

1) Initially project the s_motor axis onto a plane orthogonal to s_steering axis

v1 = s_motor - (s_steering*s_motor)*s_steering v1 = v1/||v1||

Let this vector denote an x-axis in the projected plane.

2) Define the y-axis in the projected plane as

v2 = s_steering X v1

Observe that the s_steering joint axis is the z-axis in this local coordinate frame.

3) During simulation project the current motor axis onto the ``steering axis plane''

s' = s_motor - (s_steering*s_motor)*s_steering

Now

x = s'*v1 y = s'*v2

theta = -atan2(y,x)

Notice that s'*v1 = s_motor*v1, since the projection of s_motor onto the axes v1 and v2 will have the same coordinates as s'.

template<typename mbd_types >

vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::get_steering_axis_world ( ) const [inline]

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::get_steering_rate ( ) const [inline]

Get Steering Rate (How fast we are turning the steering wheel around the steering axis).

Returns:: The rate.

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::get_suspension_cfm ( ) const [inline]

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::get_suspension_erp ( ) const [inline]

template<typename mbd_types >

body_type* OpenTissue::mbd::WheelJoint< mbd_types >::get_wheel_body ( ) const [inline]

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::get_wheel_rate ( ) const [inline]

Get Wheel Rate (How fast are the wheel spinning).

Returns:: The rate.

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::set_regularization ( vector_range const & gamma ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::set_solution ( vector_range const & solution ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::set_steering_limit ( angular_limit_type const & limit ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::set_steering_motor ( angular_motor_type const & motor ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::set_suspension	(	real_type const &	gamma,
		real_type const &	erp
	)			`[inline]`

Set Suspension. Only works if constraint force mixing is supported (newton damping).

Suspension is modelled by making the steering axis ``soft''

Parameters:

syspension.

template<typename mbd_types >

void OpenTissue::mbd::WheelJoint< mbd_types >::set_wheel_motor ( angular_motor_type const & motor ) [inline]

Member Data Documentation

template<typename mbd_types >

vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_anc_A_wcs [protected]

The anchor point wrt. to body A in WCS.

template<typename mbd_types >

vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_anc_B_wcs [protected]

The anchor point wrt. to body B in WCS.

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::m_cfm_susp [protected]

Constraint force mixing parameter along suspension axis.

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::m_cos_theta [protected]

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::m_cos_theta0 [protected]

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::m_erp_susp [protected]

Error reduction parameter along suspension axis.

template<typename mbd_types >

vector_type OpenTissue::mbd::WheelJoint< mbd_types >::m_gamma [protected]

Local vector of constraint force mixing terms.

template<typename mbd_types >

matrix3x3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_J_A [protected]

Angular part of jacobian of body A.

template<typename mbd_types >

matrix3x3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_J_B [protected]

Angular part of jacobian of body B.

template<typename mbd_types >

angular_limit_type* OpenTissue::mbd::WheelJoint< mbd_types >::m_limit [protected]

Steering angle limits.

template<typename mbd_types >

size_type OpenTissue::mbd::WheelJoint< mbd_types >::m_limit_offset [protected]

template<typename mbd_types >

angular_motor_type* OpenTissue::mbd::WheelJoint< mbd_types >::m_motor1 [protected]

Steering axis motor.

template<typename mbd_types >

angular_motor_type* OpenTissue::mbd::WheelJoint< mbd_types >::m_motor2 [protected]

Wheel motor.

template<typename mbd_types >

size_type OpenTissue::mbd::WheelJoint< mbd_types >::m_motor_offset1 [protected]

template<typename mbd_types >

size_type OpenTissue::mbd::WheelJoint< mbd_types >::m_motor_offset2 [protected]

template<typename mbd_types >

matrix3x3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_R [protected]

Rotation matrix from WCS to locla joint frame.

template<typename mbd_types >

size_type OpenTissue::mbd::WheelJoint< mbd_types >::m_rows [protected]

Number of jacobian rows.

template<typename mbd_types >

vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_s [protected]

Suspension axis in WCS.

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::m_sin_theta [protected]

template<typename mbd_types >

real_type OpenTissue::mbd::WheelJoint< mbd_types >::m_sin_theta0 [protected]

template<typename mbd_types >

vector_type OpenTissue::mbd::WheelJoint< mbd_types >::m_solution [protected]

Local solution vector, ie. vector of lagrange multipliers.

template<typename mbd_types >

vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_t1 [protected]

Orthognal axis on suspension axis in WCS.

template<typename mbd_types >

vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_t2 [protected]

Orthognal axis on suspension and t1 axes in WCS.

template<typename mbd_types >

vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_u [protected]

Constraint axis.

template<typename mbd_types >

vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_v1 [protected]

X-axis, used when measuring steering angle.

template<typename mbd_types >

vector3_type OpenTissue::mbd::WheelJoint< mbd_types >::m_v2 [protected]

Y-axis, used when measuring steering angle.

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

/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/dynamics/mbd/joints/mbd_wheel_joint.h

OpenTissue::mbd::WheelJoint< mbd_types > Class Template Reference

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<typename mbd_types> class OpenTissue::mbd::WheelJoint< mbd_types >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename mbd_types>
class OpenTissue::mbd::WheelJoint< mbd_types >