ROS2::VehicleDynamics::VehicleInputControlRequests Class Reference

#include <VehicleInputControlBus.h>

Inherits AZ::EBusTraits.

Public Types
using	BusIdType = AZ::EntityId

Public Member Functions
virtual void	SetTargetLinearSpeedV3 (const AZ::Vector3 &speedMps)=0
virtual void	SetTargetLinearSpeed (float speedMpsX)=0
virtual void	SetTargetSteering (float steering)=0
virtual void	SetTargetAngularSpeedV3 (const AZ::Vector3 &rate)=0
virtual void	SetTargetAngularSpeed (float rateZ)=0
virtual void	SetTargetAccelerationFraction (float accelerationFraction)=0
virtual void	SetTargetSteeringFraction (float steeringFraction)=0
virtual void	SetTargetLinearSpeedFraction (float speedFractionX)=0
virtual void	SetTargetAngularSpeedFraction (float rateFractionZ)=0
virtual void	SetDisableVehicleDynamics (bool disable)=0
virtual AZStd::pair< AZ::Vector3, AZ::Vector3 >	GetWheelsOdometry ()=0

Static Public Attributes
static constexpr AZ::EBusAddressPolicy	AddressPolicy = AZ::EBusAddressPolicy::ById

Detailed Description

Inputs (speed, steering, acceleration etc.) for vehicle dynamics system Inputs are valid for a short time (configurable) and need to be repeated if continuous movement is needed. (Use cruise system to set cruise speed).

Member Function Documentation

GetWheelsOdometry()

virtual AZStd::pair< AZ::Vector3, AZ::Vector3 > ROS2::VehicleDynamics::VehicleInputControlRequests::GetWheelsOdometry ( )

pure virtual

Returns vehicle's velocity in its local coordinate system

Returns

pair of Vectors : Linear speed (in m/s) and angular speed (in rad/s)

SetDisableVehicleDynamics()

virtual void ROS2::VehicleDynamics::VehicleInputControlRequests::SetDisableVehicleDynamics ( bool  disable )

pure virtual

Disables (or enables) the vehicle dynamics

Parameters

disable

if set true no torque will be applied

SetTargetAccelerationFraction()

virtual void ROS2::VehicleDynamics::VehicleInputControlRequests::SetTargetAccelerationFraction ( float  accelerationFraction )

pure virtual

Accelerate without target speed, relative to the limits.

Parameters

accelerationFraction

is relative to limits of possible acceleration. 1 - accelerate as much as possible, -1 - brake as much as possible.

SetTargetAngularSpeed()

virtual void ROS2::VehicleDynamics::VehicleInputControlRequests::SetTargetAngularSpeed ( float  rateZ )

pure virtual

Set target for the angular speed. It should be realized over time according to drive model.

Parameters

rateZ

is an angular speed in radians per second in up direction .

SetTargetAngularSpeedFraction()

virtual void ROS2::VehicleDynamics::VehicleInputControlRequests::SetTargetAngularSpeedFraction ( float  rateFractionZ )

pure virtual

Set target for the angular speed. It should be realized over time according to drive model.

Parameters

rateFractionZ

is an angular speed in radians per second in up direction, fraction of maximum speed.

SetTargetAngularSpeedV3()

virtual void ROS2::VehicleDynamics::VehicleInputControlRequests::SetTargetAngularSpeedV3 ( const AZ::Vector3 &  rate )

pure virtual

Set target for the angular speed. It should be realized over time according to drive model.

Parameters

rate	is an angular speed vector, unit is radians per second.

SetTargetLinearSpeed()

virtual void ROS2::VehicleDynamics::VehicleInputControlRequests::SetTargetLinearSpeed ( float  speedMpsX )

pure virtual

Set target for the vehicle linear speed. It should be realized over time according to drive model.

Parameters

speedMpsX

is a linear speed in meters per second with the plus sign in the forward direction.

SetTargetLinearSpeedFraction()

virtual void ROS2::VehicleDynamics::VehicleInputControlRequests::SetTargetLinearSpeedFraction ( float  speedFractionX )

pure virtual

Speed input version which is relative to limits.

Parameters

speedFractionX

is -1 to 1, which applies as a fraction of vehicle model speed limits.

SetTargetLinearSpeedV3()

virtual void ROS2::VehicleDynamics::VehicleInputControlRequests::SetTargetLinearSpeedV3 ( const AZ::Vector3 &  speedMps )

pure virtual

Set target for the vehicle linear speed. It should be realized over time according to drive model.

Parameters

speedMps

is a linear speed vectors, unit is meters per second.

SetTargetSteering()

virtual void ROS2::VehicleDynamics::VehicleInputControlRequests::SetTargetSteering ( float  steering )

pure virtual

Steer in a direction given in relative coordinate system (current direction is 0).

Parameters

steering

is angle in radians, positive to the right and negative to the left.

Note

The actual angle applied is subject to limits and implementation (eg smoothing).

SetTargetSteeringFraction()

virtual void ROS2::VehicleDynamics::VehicleInputControlRequests::SetTargetSteeringFraction ( float  steeringFraction )

pure virtual

Steer input version which is relative to limits.

Parameters

steeringFraction

is -1 to 1, which applies as a fraction of vehicle model steering limits.

Note

The actual angle applied is subject to limits and implementation (eg smoothing).

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The documentation for this class was generated from the following file:

• Gems/ROS2/Code/Include/ROS2/VehicleDynamics/VehicleInputControlBus.h