Motion models
These classes describe vehicle motion models, sometimes referred to as kinematic or kino-dynamic models. They provide methods to:
predict new configuration based on odometry
compute configuration derivative
simulate and animate motion
compute Jacobians
- Bicycle
BicycleBicycle.__init__()Bicycle.lBicycle.radius_minBicycle.curvature_maxBicycle.steer_maxBicycle.deriv()Bicycle.u_limited()Bicycle.Fv()Bicycle.Fx()Bicycle.accel_maxBicycle.add_driver()Bicycle.controlBicycle.dtBicycle.eval_control()Bicycle.f()Bicycle.init()Bicycle.limits_va()Bicycle.plot_xy()Bicycle.plot_xyt()Bicycle.polygon()Bicycle.qBicycle.randomBicycle.run()Bicycle.run_animation()Bicycle.speed_maxBicycle.step()Bicycle.stopsim()Bicycle.verboseBicycle.workspaceBicycle.xBicycle.x0Bicycle.x_hist
- Unicycle
UnicycleUnicycle.__init__()Unicycle.deriv()Unicycle.u_limited()Unicycle.Fv()Unicycle.Fx()Unicycle.accel_maxUnicycle.add_driver()Unicycle.controlUnicycle.dtUnicycle.eval_control()Unicycle.f()Unicycle.init()Unicycle.limits_va()Unicycle.plot_xy()Unicycle.plot_xyt()Unicycle.polygon()Unicycle.qUnicycle.randomUnicycle.run()Unicycle.run_animation()Unicycle.speed_maxUnicycle.step()Unicycle.stopsim()Unicycle.verboseUnicycle.workspaceUnicycle.xUnicycle.x0Unicycle.x_hist
- Differential steering
DiffSteerDiffSteer.__init__()DiffSteer.init()DiffSteer.u_limited()DiffSteer.Fv()DiffSteer.Fx()DiffSteer.accel_maxDiffSteer.add_driver()DiffSteer.controlDiffSteer.deriv()DiffSteer.dtDiffSteer.eval_control()DiffSteer.f()DiffSteer.limits_va()DiffSteer.plot_xy()DiffSteer.plot_xyt()DiffSteer.polygon()DiffSteer.qDiffSteer.randomDiffSteer.run()DiffSteer.run_animation()DiffSteer.speed_maxDiffSteer.step()DiffSteer.stopsim()DiffSteer.verboseDiffSteer.workspaceDiffSteer.xDiffSteer.x0DiffSteer.x_hist
- Vehicle abstract baseclass
VehicleBaseVehicleBase.__init__()VehicleBase.__str__()VehicleBase.f()VehicleBase.Fx()VehicleBase.Fv()VehicleBase.controlVehicleBase.eval_control()VehicleBase.limits_va()VehicleBase.polygon()VehicleBase.deriv()VehicleBase.add_driver()VehicleBase.run()VehicleBase.run_animation()VehicleBase.init()VehicleBase.step()VehicleBase.workspaceVehicleBase.xVehicleBase.qVehicleBase.x0VehicleBase.randomVehicleBase.x_histVehicleBase.speed_maxVehicleBase.accel_maxVehicleBase.dtVehicleBase.verboseVehicleBase.stopsim()VehicleBase.plot_xy()VehicleBase.plot_xyt()