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| 1 | +// Copyright 2024 The Autoware Foundation. |
| 2 | +// |
| 3 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +// you may not use this file except in compliance with the License. |
| 5 | +// You may obtain a copy of the License at |
| 6 | +// |
| 7 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +// |
| 9 | +// Unless required by applicable law or agreed to in writing, software |
| 10 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +// See the License for the specific language governing permissions and |
| 13 | +// limitations under the License. |
| 14 | + |
| 15 | +#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_ // NOLINT |
| 16 | +#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_ // NOLINT |
| 17 | + |
| 18 | +#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" |
| 19 | + |
| 20 | +#include <Eigen/Core> |
| 21 | +#include <Eigen/LU> |
| 22 | + |
| 23 | +#include <deque> |
| 24 | +#include <iostream> |
| 25 | +#include <queue> |
| 26 | + |
| 27 | +class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface |
| 28 | +{ |
| 29 | +public: |
| 30 | + /** |
| 31 | + * @param [in] vx_lim velocity limit [m/s] |
| 32 | + * @param [in] steer_lim steering limit [rad] |
| 33 | + * @param [in] vx_rate_lim acceleration limit [m/ss] |
| 34 | + * @param [in] steer_rate_lim steering angular velocity limit [rad/ss] |
| 35 | + * @param [in] wheelbase vehicle wheelbase length [m] |
| 36 | + * @param [in] dt delta time information to set input buffer for delay |
| 37 | + * @param [in] acc_delay time delay for accel command [s] |
| 38 | + * @param [in] acc_time_constant time constant for 1D model of accel dynamics |
| 39 | + * @param [in] steer_delay time delay for steering command [s] |
| 40 | + * @param [in] steer_time_constant time constant for 1D model of steering dynamics |
| 41 | + * @param [in] steer_dead_band dead band for steering angle [rad] |
| 42 | + * @param [in] steer_bias steering bias [rad] |
| 43 | + * @param [in] debug_acc_scaling_factor scaling factor for accel command |
| 44 | + * @param [in] debug_steer_scaling_factor scaling factor for steering command |
| 45 | + */ |
| 46 | + SimModelDelaySteerAccGearedWoFallGuard( |
| 47 | + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, |
| 48 | + double dt, double acc_delay, double acc_time_constant, double steer_delay, |
| 49 | + double steer_time_constant, double steer_dead_band, double steer_bias, |
| 50 | + double debug_acc_scaling_factor, double debug_steer_scaling_factor); |
| 51 | + |
| 52 | + /** |
| 53 | + * @brief default destructor |
| 54 | + */ |
| 55 | + ~SimModelDelaySteerAccGearedWoFallGuard() = default; |
| 56 | + |
| 57 | +private: |
| 58 | + const double MIN_TIME_CONSTANT; //!< @brief minimum time constant |
| 59 | + |
| 60 | + enum IDX { |
| 61 | + X = 0, |
| 62 | + Y, |
| 63 | + YAW, |
| 64 | + VX, |
| 65 | + STEER, |
| 66 | + PEDAL_ACCX, |
| 67 | + }; |
| 68 | + enum IDX_U { PEDAL_ACCX_DES = 0, GEAR, SLOPE_ACCX, STEER_DES }; |
| 69 | + |
| 70 | + const double vx_lim_; //!< @brief velocity limit [m/s] |
| 71 | + const double vx_rate_lim_; //!< @brief acceleration limit [m/ss] |
| 72 | + const double steer_lim_; //!< @brief steering limit [rad] |
| 73 | + const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] |
| 74 | + const double wheelbase_; //!< @brief vehicle wheelbase length [m] |
| 75 | + |
| 76 | + std::deque<double> acc_input_queue_; //!< @brief buffer for accel command |
| 77 | + std::deque<double> steer_input_queue_; //!< @brief buffer for steering command |
| 78 | + const double acc_delay_; //!< @brief time delay for accel command [s] |
| 79 | + const double acc_time_constant_; //!< @brief time constant for accel dynamics |
| 80 | + const double steer_delay_; //!< @brief time delay for steering command [s] |
| 81 | + const double steer_time_constant_; //!< @brief time constant for steering dynamics |
| 82 | + const double steer_dead_band_; //!< @brief dead band for steering angle [rad] |
| 83 | + const double steer_bias_; //!< @brief steering angle bias [rad] |
| 84 | + const double debug_acc_scaling_factor_; //!< @brief scaling factor for accel command |
| 85 | + const double debug_steer_scaling_factor_; //!< @brief scaling factor for steering command |
| 86 | + |
| 87 | + /** |
| 88 | + * @brief set queue buffer for input command |
| 89 | + * @param [in] dt delta time |
| 90 | + */ |
| 91 | + void initializeInputQueue(const double & dt); |
| 92 | + |
| 93 | + /** |
| 94 | + * @brief get vehicle position x |
| 95 | + */ |
| 96 | + double getX() override; |
| 97 | + |
| 98 | + /** |
| 99 | + * @brief get vehicle position y |
| 100 | + */ |
| 101 | + double getY() override; |
| 102 | + |
| 103 | + /** |
| 104 | + * @brief get vehicle angle yaw |
| 105 | + */ |
| 106 | + double getYaw() override; |
| 107 | + |
| 108 | + /** |
| 109 | + * @brief get vehicle velocity vx |
| 110 | + */ |
| 111 | + double getVx() override; |
| 112 | + |
| 113 | + /** |
| 114 | + * @brief get vehicle lateral velocity |
| 115 | + */ |
| 116 | + double getVy() override; |
| 117 | + |
| 118 | + /** |
| 119 | + * @brief get vehicle longitudinal acceleration |
| 120 | + */ |
| 121 | + double getAx() override; |
| 122 | + |
| 123 | + /** |
| 124 | + * @brief get vehicle angular-velocity wz |
| 125 | + */ |
| 126 | + double getWz() override; |
| 127 | + |
| 128 | + /** |
| 129 | + * @brief get vehicle steering angle |
| 130 | + */ |
| 131 | + double getSteer() override; |
| 132 | + |
| 133 | + /** |
| 134 | + * @brief update vehicle states |
| 135 | + * @param [in] dt delta time [s] |
| 136 | + */ |
| 137 | + void update(const double & dt) override; |
| 138 | + |
| 139 | + /** |
| 140 | + * @brief calculate derivative of states with time delay steering model |
| 141 | + * @param [in] state current model state |
| 142 | + * @param [in] input input vector to model |
| 143 | + */ |
| 144 | + Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override; |
| 145 | +}; |
| 146 | + |
| 147 | +// clang-format off |
| 148 | +#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_ // NOLINT |
| 149 | +// clang-format on |
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