Helios++
Helios software for LiDAR simulations
GroundVehiclePlatform.h
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#pragma once
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#include "SimplePhysicsPlatform.h"
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#define _USE_MATH_DEFINES
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#include "math.h"
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class
GroundVehiclePlatform
:
public
SimplePhysicsPlatform
{
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private
:
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// *** ATTRIBUTES *** //
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// ******************** //
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double
mEngineForceMax
= 0.2;
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double
mEngineForceCurrent
= 0;
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double
mEngineForceTarget
= 0;
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double
mComplexTurnThreshold_rad
= M_PI / 5;
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int
mTurnMode
= 0;
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glm::dvec3
mTempWaypoint
;
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public
:
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// *** CONSTRUCTION / DESTRUCTION *** //
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// ************************************ //
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GroundVehiclePlatform
() :
SimplePhysicsPlatform
() {
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// Disable gravity:
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mCfg_g_accel
= glm::dvec3(0, 0, 0);
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}
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std::shared_ptr<Platform> clone()
override
;
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void
_clone(std::shared_ptr<Platform> p)
override
;
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// *** M E T H O D S *** //
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// *********************** //
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void
doControlStep
(
int
simFrequency_hz)
override
;
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void
setDestination
(glm::dvec3 dest)
override
;
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void
prepareSimulation
(
int
simFrequency_hz)
override
;
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};
GroundVehiclePlatform
Class representing a ground vehicle platform.
Definition:
GroundVehiclePlatform.h:11
GroundVehiclePlatform::mEngineForceCurrent
double mEngineForceCurrent
Current force of vehicle engine.
Definition:
GroundVehiclePlatform.h:23
GroundVehiclePlatform::mTurnMode
int mTurnMode
Turn mode specification.
Definition:
GroundVehiclePlatform.h:41
GroundVehiclePlatform::prepareSimulation
void prepareSimulation(int simFrequency_hz) override
Definition:
GroundVehiclePlatform.cpp:119
GroundVehiclePlatform::mEngineForceMax
double mEngineForceMax
Max force for vehicle engine.
Definition:
GroundVehiclePlatform.h:19
GroundVehiclePlatform::doControlStep
void doControlStep(int simFrequency_hz) override
Definition:
GroundVehiclePlatform.cpp:32
GroundVehiclePlatform::GroundVehiclePlatform
GroundVehiclePlatform()
Default constructor for ground vehicle platform.
Definition:
GroundVehiclePlatform.h:53
GroundVehiclePlatform::mComplexTurnThreshold_rad
double mComplexTurnThreshold_rad
Turning threshold in radians.
Definition:
GroundVehiclePlatform.h:31
GroundVehiclePlatform::setDestination
void setDestination(glm::dvec3 dest) override
Definition:
GroundVehiclePlatform.cpp:114
GroundVehiclePlatform::mEngineForceTarget
double mEngineForceTarget
Target force for vehicle engine.
Definition:
GroundVehiclePlatform.h:27
GroundVehiclePlatform::mTempWaypoint
glm::dvec3 mTempWaypoint
Temporary way point to assist ground vehicle movement.
Definition:
GroundVehiclePlatform.h:45
SimplePhysicsPlatform
Class representing a simple phyiscs platform.
Definition:
SimplePhysicsPlatform.h:8
SimplePhysicsPlatform::mCfg_g_accel
glm::dvec3 mCfg_g_accel
Gravity acceleration vector.
Definition:
SimplePhysicsPlatform.h:19
src
platform
GroundVehiclePlatform.h
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