Class simulation_framework::utilities::vehicle::IVehicle

Definition: autonomy/simulation/utilities/vehicle/i_vehicle.h (line 24)

Abstract vehicle interface used by simulation components.

IVehicle defines the minimal API required by higher-level systems to request predicted motion states and to provide concrete controller and model implementations. Implementations own the controller and model instances and expose const accessors for inspection.

Members

• GetController
• GetModel
• RegisterController
• RegisterModel
• RequestMotionState
• ~IVehicle

Public functions

Function ~IVehicle

virtual simulation_framework::utilities::vehicle::IVehicle::~IVehicle()=default

Return type:

Function RequestMotionState

virtual std::pair< state::MotionState, state::ControlInput > simulation_framework::utilities::vehicle::IVehicle::RequestMotionState(const state::MotionState &current, const std::vector< state::MotionState > &request, double dt)=0

Compute a predicted motion state and applied control for a given reference trajectory.

Parameters:

• current: current measured motion state
• request: sequence of reference MotionState values to follow
• dt: delta time step used for prediction

Returns:

pair of (predicted MotionState after applying control, ControlInput used)

Parameters:

• const state::MotionState & current
• const std::vector< state::MotionState > & request
• double dt

Return type: std::pair< state::MotionState, state::ControlInput >

Function RegisterController

virtual void simulation_framework::utilities::vehicle::IVehicle::RegisterController(std::unique_ptr< controller::IVehicleController > controller)=0

Register a vehicle controller implementation.

Parameters:

• controller: ownership of a controller implementation

Parameters:

• std::unique_ptr< controller::IVehicleController > controller

Return type: void

Function RegisterModel

virtual void simulation_framework::utilities::vehicle::IVehicle::RegisterModel(std::unique_ptr< model::IVehicleModel< double > > model)=0

Register a vehicle model implementation.

Parameters:

• model: ownership of a vehicle model templated on double

Parameters:

• std::unique_ptr< model::IVehicleModel< double > > model

Return type: void

Function GetController

virtual const controller::IVehicleController * simulation_framework::utilities::vehicle::IVehicle::GetController() const =0

Get the registered controller (read-only).

Returns:

pointer to the registered controller or nullptr if none

Return type: const controller::IVehicleController *

Function GetModel

virtual const model::IVehicleModel< double > * simulation_framework::utilities::vehicle::IVehicle::GetModel() const =0

Get the registered vehicle model (read-only).

Returns:

pointer to the registered model or nullptr if none

Return type: const model::IVehicleModel< double > *