Detailed Description

template<typename T>
class delphyne::DynamicBicycleCarParams< T >

Specializes BasicVector with specific getters and setters.

#include <src/gen/dynamic_bicycle_car_params.h>

Inheritance diagram for DynamicBicycleCarParams< T >:

Public Types
typedef DynamicBicycleCarParamsIndices	K
	An abbreviation for our row index constants. More...

Public Member Functions
	DynamicBicycleCarParams ()
	Default constructor. More...

Implements CopyConstructible, CopyAssignable, MoveConstructible,
MoveAssignable
	DynamicBicycleCarParams (const DynamicBicycleCarParams &other)

	DynamicBicycleCarParams (DynamicBicycleCarParams &&other) noexcept

DynamicBicycleCarParams &	operator= (const DynamicBicycleCarParams &other)

DynamicBicycleCarParams &	operator= (DynamicBicycleCarParams &&other) noexcept

template<typename U = T>
std::enable_if< std::is_same< U, drake::symbolic::Expression >::value >::type	SetToNamedVariables ()
	Create a drake::symbolic::Variable for each element with the known variable name. More...

DynamicBicycleCarParams< T > *	DoClone () const final

Getters and Setters
const T &	mass () const
	Mass of X1 vehicle. More...

void	set_mass (const T &mass)
	Setter that matches mass(). More...

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams< T >	with_mass (const T &mass) const
	Fluent setter that matches mass(). More...

const T &	izz () const
	moment of inertia. More...

void	set_izz (const T &izz)
	Setter that matches izz(). More...

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams< T >	with_izz (const T &izz) const
	Fluent setter that matches izz(). More...

const T &	c_alpha_f () const
	Front cornering stiffness. More...

void	set_c_alpha_f (const T &c_alpha_f)
	Setter that matches c_alpha_f(). More...

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams< T >	with_c_alpha_f (const T &c_alpha_f) const
	Fluent setter that matches c_alpha_f(). More...

const T &	c_alpha_r () const
	Rear cornering stiffness. More...

void	set_c_alpha_r (const T &c_alpha_r)
	Setter that matches c_alpha_r(). More...

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams< T >	with_c_alpha_r (const T &c_alpha_r) const
	Fluent setter that matches c_alpha_r(). More...

const T &	mu () const
	Coefficient of friction between tire and road surface. More...

void	set_mu (const T &mu)
	Setter that matches mu(). More...

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams< T >	with_mu (const T &mu) const
	Fluent setter that matches mu(). More...

const T &	Lf () const
	Distance from control point to front axle (referred to as 'a' in Bobier). More...

void	set_Lf (const T &Lf)
	Setter that matches Lf(). More...

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams< T >	with_Lf (const T &Lf) const
	Fluent setter that matches Lf(). More...

const T &	Lb () const
	Distance from rear axle to control point (referred to as 'b' in Bobier). More...

void	set_Lb (const T &Lb)
	Setter that matches Lb(). More...

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams< T >	with_Lb (const T &Lb) const
	Fluent setter that matches Lb(). More...

const T &	p_LoCp_z () const
	Height of vehicle's control point Cp. More...

void	set_p_LoCp_z (const T &p_LoCp_z)
	Setter that matches p_LoCp_z(). More...

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams< T >	with_p_LoCp_z (const T &p_LoCp_z) const
	Fluent setter that matches p_LoCp_z(). More...

const T &	gravity () const
	An approximate value for gravitational acceleration. More...

void	set_gravity (const T &gravity)
	Setter that matches gravity(). More...

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams< T >	with_gravity (const T &gravity) const
	Fluent setter that matches gravity(). More...

drake::boolean< T >	IsValid () const
	Returns whether the current values of this vector are well-formed. More...

void	GetElementBounds (Eigen::VectorXd lower, Eigen::VectorXd upper) const final

static const std::vector< std::string > &	GetCoordinateNames ()
	See DynamicBicycleCarParamsIndices::GetCoordinateNames(). More...

Member Typedef Documentation

◆ K

typedef DynamicBicycleCarParamsIndices K

An abbreviation for our row index constants.

Constructor & Destructor Documentation

◆ DynamicBicycleCarParams() [1/3]

DynamicBicycleCarParams ( )

Default constructor.

Sets all rows to their default value:

mass defaults to 1823.0 kg.
izz defaults to 2000.0 kgm^2.
c_alpha_f defaults to 115000 N/rad.
c_alpha_r defaults to 155000 N/rad.
mu defaults to 0.55 dimensionless.
Lf defaults to 1.54 m.
Lb defaults to 1.21 m.
p_LoCp_z defaults to 0.508 m.
gravity defaults to 9.81 m/s^2.

◆ DynamicBicycleCarParams() [2/3]

DynamicBicycleCarParams ( const DynamicBicycleCarParams< T > & other )

◆ DynamicBicycleCarParams() [3/3]

DynamicBicycleCarParams ( DynamicBicycleCarParams< T > && other )

noexcept

Member Function Documentation

◆ c_alpha_f()

const T& c_alpha_f ( ) const

Front cornering stiffness.

Note: c_alpha_f is expressed in units of N/rad.; c_alpha_f has a limited domain of [0.0, +Inf].

◆ c_alpha_r()

const T& c_alpha_r ( ) const

Rear cornering stiffness.

Note: c_alpha_r is expressed in units of N/rad.; c_alpha_r has a limited domain of [0.0, +Inf].

◆ DoClone()

DynamicBicycleCarParams<T>* DoClone ( ) const

final

◆ GetCoordinateNames()

static const std::vector<std::string>& GetCoordinateNames ( )

static

See DynamicBicycleCarParamsIndices::GetCoordinateNames().

◆ GetElementBounds()

void GetElementBounds	(	Eigen::VectorXd *	lower,
		Eigen::VectorXd *	upper
	)		const

final

◆ gravity()

const T& gravity ( ) const

An approximate value for gravitational acceleration.

Note: gravity is expressed in units of m/s^2.; gravity has a limited domain of [0.0, +Inf].

◆ IsValid()

drake::boolean<T> IsValid ( ) const

Returns whether the current values of this vector are well-formed.

◆ izz()

const T& izz ( ) const

moment of inertia.

Note: izz is expressed in units of kgm^2.; izz has a limited domain of [0.0, +Inf].

◆ Lb()

const T& Lb ( ) const

Distance from rear axle to control point (referred to as 'b' in Bobier).

Note: Lb is expressed in units of m.; Lb has a limited domain of [0.0, +Inf].

◆ Lf()

const T& Lf ( ) const

Distance from control point to front axle (referred to as 'a' in Bobier).

Note: Lf is expressed in units of m.; Lf has a limited domain of [0.0, +Inf].

◆ mass()

const T& mass ( ) const

Mass of X1 vehicle.

Note: mass is expressed in units of kg.; mass has a limited domain of [0.0, +Inf].

◆ mu()

const T& mu ( ) const

Coefficient of friction between tire and road surface.

Note: mu is expressed in units of dimensionless.; mu has a limited domain of [0.0, +Inf].

◆ operator=() [1/2]

DynamicBicycleCarParams& operator= ( const DynamicBicycleCarParams< T > & other )

◆ operator=() [2/2]

DynamicBicycleCarParams& operator= ( DynamicBicycleCarParams< T > && other )

noexcept

◆ p_LoCp_z()

const T& p_LoCp_z ( ) const

Height of vehicle's control point Cp.

Note: p_LoCp_z is expressed in units of m.; p_LoCp_z has a limited domain of [0.0, +Inf].

◆ set_c_alpha_f()

void set_c_alpha_f ( const T & c_alpha_f )

Setter that matches c_alpha_f().

◆ set_c_alpha_r()

void set_c_alpha_r ( const T & c_alpha_r )

Setter that matches c_alpha_r().

◆ set_gravity()

void set_gravity ( const T & gravity )

Setter that matches gravity().

◆ set_izz()

void set_izz ( const T & izz )

Setter that matches izz().

◆ set_Lb()

void set_Lb ( const T & Lb )

Setter that matches Lb().

◆ set_Lf()

void set_Lf ( const T & Lf )

Setter that matches Lf().

◆ set_mass()

void set_mass ( const T & mass )

Setter that matches mass().

◆ set_mu()

void set_mu ( const T & mu )

Setter that matches mu().

◆ set_p_LoCp_z()

void set_p_LoCp_z ( const T & p_LoCp_z )

Setter that matches p_LoCp_z().

◆ SetToNamedVariables()

std::enable_if<std::is_same<U, drake::symbolic::Expression>::value>::type SetToNamedVariables ( )

Create a drake::symbolic::Variable for each element with the known variable name.

This is only available for T == drake::symbolic::Expression.

◆ with_c_alpha_f()

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams<T> with_c_alpha_f ( const T & c_alpha_f ) const

Fluent setter that matches c_alpha_f().

Returns a copy of this with c_alpha_f set to a new value.

◆ with_c_alpha_r()

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams<T> with_c_alpha_r ( const T & c_alpha_r ) const

Fluent setter that matches c_alpha_r().

Returns a copy of this with c_alpha_r set to a new value.

◆ with_gravity()

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams<T> with_gravity ( const T & gravity ) const

Fluent setter that matches gravity().

Returns a copy of this with gravity set to a new value.

◆ with_izz()

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams<T> with_izz ( const T & izz ) const

Fluent setter that matches izz().

Returns a copy of this with izz set to a new value.

◆ with_Lb()

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams<T> with_Lb ( const T & Lb ) const

Fluent setter that matches Lb().

Returns a copy of this with Lb set to a new value.

◆ with_Lf()

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams<T> with_Lf ( const T & Lf ) const

Fluent setter that matches Lf().

Returns a copy of this with Lf set to a new value.

◆ with_mass()

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams<T> with_mass ( const T & mass ) const

Fluent setter that matches mass().

Returns a copy of this with mass set to a new value.

◆ with_mu()

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams<T> with_mu ( const T & mu ) const

Fluent setter that matches mu().

Returns a copy of this with mu set to a new value.

◆ with_p_LoCp_z()

DRAKE_VECTOR_GEN_NODISCARD DynamicBicycleCarParams<T> with_p_LoCp_z ( const T & p_LoCp_z ) const

Fluent setter that matches p_LoCp_z().

Returns a copy of this with p_LoCp_z set to a new value.

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

dynamic_bicycle_car_params.h