dynamics.models.ugv

Class UGVModel

java.lang.Object

dynamics.models.ugv.UGVModel

public class UGVModel
extends Object

Coefficients and vehicle characteristics for a tracked unmanned ground vehicle (or a wheeled vehicle that uses differential wheel speed to steer).

Author:

dtdavi1

Field Summary

Fields

Modifier and Type	Field and Description
protected double	maxP Maximum vehicle angular speeds (body relative) degrees per second
protected double	maxQ
protected double	maxR
protected double	maxTrackAccel Maximum track acceleration in m/s^2 (i.e., how fast can it go from 0 to max speed)
protected double	maxTrackSpeed Maximum speed of the tracks in meters per second
protected double	maxU Maximum vehicle linear speeds (body relative) in meters per second
protected double	maxV
protected double	maxW
protected double	trackBase Longitudinal distance between the center of rotation at the front and rear of the tracks
protected double	trackSlipFactor Used to determine how much the tracks or wheels slip while they're spinning
protected double	trackWidth Lateral distance between the left and right track in meters

Constructor Summary

Constructors

Constructor and Description
UGVModel()

Method Summary

Modifier and Type	Method and Description
String	load(String configurationXmlFileName) Loads coefficients from an configuration XML file

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

maxU

protected double maxU

Maximum vehicle linear speeds (body relative) in meters per second

maxV

protected double maxV

maxW

protected double maxW

maxP

protected double maxP

Maximum vehicle angular speeds (body relative) degrees per second

maxQ

protected double maxQ

maxR

protected double maxR

maxTrackSpeed

protected double maxTrackSpeed

Maximum speed of the tracks in meters per second

maxTrackAccel

protected double maxTrackAccel

Maximum track acceleration in m/s^2 (i.e., how fast can it go from 0 to max speed)

trackBase

protected double trackBase

Longitudinal distance between the center of rotation at the front and rear of the tracks

trackWidth

protected double trackWidth

Lateral distance between the left and right track in meters

trackSlipFactor

protected double trackSlipFactor

Used to determine how much the tracks or wheels slip while they're spinning

Constructor Detail

UGVModel

public UGVModel()

Method Detail

load

public String load(String configurationXmlFileName)

Loads coefficients from an configuration XML file