Differential Drive component class. More...
#include <DifferentialDriveComponent.h>
Inheritance diagram for UDifferentialDriveComponent:
Collaboration diagram for UDifferentialDriveComponent:
Public Member Functions | |
| virtual void | UpdateMovement (float DeltaTime) override |
| Calculate wheel velocity from Velocity(member of UMovementComponent) and AngularVelocity, and set by calling SetAngularVelocityTarget. More... | |
| void | SetWheels (UPhysicsConstraintComponent *InWheelLeft, UPhysicsConstraintComponent *InWheelRight) |
| Set left and right wheels. More... | |
| virtual float | GetWheelVelocity (const EDiffDriveWheel WheelIndex) override |
| Get the Wheel Velocity [cm/s]. More... | |
 Public Member Functions inherited from UDifferentialDriveComponentBase | |
| virtual void | TickComponent (float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction) override |
| Call UpdateOdom in addition to update movement. More... | |
| virtual void | UpdateOdom (float DeltaTime) |
| Calculate odometry from Velocity and AngularVelocity. More... | |
| virtual void | Initialize () override |
| Call Super::Initialize() and SetPerimeter. More... | |
| void | SetPerimeter () |
| SetPerimeter from WheelRadius * 2.f * M_PI. More... | |
| Public Member Functions inherited from URobotVehicleMovementComponent | |
| void | InitAIMovementComp () |
| Init AIMovementComp, which drives the robot kinematically using UE AI Navigation. More... | |
| virtual void | SetUpdatedComponent (USceneComponent *InNewUpdatedComponent) override |
| Assign a #USceneComponent as #UpdatedComponent. More... | |
| virtual void | InitVelFilters () |
| Initialize Velocity filters. More... | |
| virtual void | InitData () |
| Call #InitOdom, Calculate MinDistanceToFloor, and. More... | |
| void | SetMovingPlatform (AActor *platform) |
| bool | IsOnMovingPlatform () |
| void | RemoveMovingPlatform () |
Public Attributes | |
| UPhysicsConstraintComponent * | WheelLeft = nullptr |
| UPhysicsConstraintComponent * | WheelRight = nullptr |
| Public Attributes inherited from UDifferentialDriveComponentBase | |
| float | WheelRadius = 1.f |
| [cm] More... | |
| float | WheelSeparationHalf = 1.f |
| [cm] More... | |
| float | MaxForce = 1000.f |
| Public Attributes inherited from URobotVehicleMovementComponent | |
| ARRBaseRobot * | OwnerVehicle = nullptr |
| TObjectPtr< URRFloatingMovementComponent > | AIMovementComp = nullptr |
| FVector | AngularVelocity = FVector::ZeroVector |
| [deg/s] AngularVelocity control input for [UpdatedComponent] More... | |
| FVector | DesiredMovement = FVector::ZeroVector |
| Desired position calculated from deltatime and UpdatedComponent::ComponentVelocity. More... | |
| FQuat | DesiredRotation = FQuat::Identity |
| Desired orientation calculated from deltatime and AngularVelocity. More... | |
| float | RayOffsetUp = 10.f |
| Ray start Z offset. Value must be > possible penetration of objects in contact point, in one tick. More... | |
| float | RayOffsetDown = 20.f |
| Ray end Z offset. More... | |
| bool | bAdaptToSurfaceBelow = true |
| to activate/deactivate floor checks to stick the robot on its surface below More... | |
| int8 | InversionFactor = 1 |
| float | MinDistanceToFloor = 0.f |
| [cm] Z distance between the robot root location and the floor, used when less than 3 contact points are defined More... | |
| float | FallingSpeed = 100.f |
| [cm/s] How much the robot falls if no floor beneath ( FallingSpeed * DeltaTime ) More... | |
| URRBaseOdomComponent * | OdomComponent = nullptr |
| Odometry source. More... | |
| FVector | LinearVelFilterTau = FVector::ZeroVector |
| Low Pass filter Time constant of linear velocity commands. More... | |
| FVector | AngVelFilterTau = FVector::ZeroVector |
| Low Pass filter Time constant of angular velocity commands. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from URobotVehicleMovementComponent | |
| virtual bool | IsSupportedForNetworking () const override |
| Protected Attributes inherited from UDifferentialDriveComponentBase | |
| float | WheelPerimeter = 6.28f |
| [cm] More... | |
| float | PoseEncoderX = 0.f |
| [cm] More... | |
| float | PoseEncoderY = 0.f |
| [cm] More... | |
| float | PoseEncoderThetaRad = 0.f |
| [rad] More... | |
| Protected Attributes inherited from URobotVehicleMovementComponent | |
| float | LogLastHit = 0.f |
| internal property used to log throttle. More... | |
| TStaticArray< FirstOrderSystem, 3 > | LinearVelFilter |
| Linear Velocity Filter. More... | |
| TStaticArray< FirstOrderSystem, 3 > | AngVelFilter |
| Angular Velocity Filter. More... | |
Detailed Description
Differential Drive component class.
Simulate differential drive by using 2 UPhysicsConstraintComponent.
Calculate wheel rotation from given Velocity(member of UMovementComponent) and AngularVelocity and set by calling SetAngularVelocityTarget
Publish odometry from Velocity and AngularVelocity.
- Todo:
- Calculate odom from wheel rotation.
UCLASS(ClassGroup = (Custom), meta = (BlueprintSpawnableComponent))
Member Function Documentation
◆ GetWheelVelocity()
|
overridevirtual |
Get the Wheel Velocity [cm/s].
- Parameters
-
index index of wheels
Reimplemented from UDifferentialDriveComponentBase.
◆ SetWheels()
| void UDifferentialDriveComponent::SetWheels | ( | UPhysicsConstraintComponent * | InWheelLeft, |
| UPhysicsConstraintComponent * | InWheelRight | ||
| ) |
◆ UpdateMovement()
|
overridevirtual |
Calculate wheel velocity from Velocity(member of UMovementComponent) and AngularVelocity, and set by calling SetAngularVelocityTarget.
SetAngularDriveParams as well.
- Parameters
-
DeltaTime
Reimplemented from UDifferentialDriveComponentBase.
Member Data Documentation
◆ WheelLeft
| UPhysicsConstraintComponent* UDifferentialDriveComponent::WheelLeft = nullptr |
◆ WheelRight
| UPhysicsConstraintComponent* UDifferentialDriveComponent::WheelRight = nullptr |
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Drives/DifferentialDriveComponent.h
