simulation.src.gazebo_simulation.src.car_model package

Submodules

simulation.src.gazebo_simulation.src.car_model.car_specs module

Classes:

CarSpecs(wheelbase, track, vehicle_width, ...)

class CarSpecs(wheelbase: float, track: float, vehicle_width: float, distance_cog_front: float, distance_cog_rear: float, cog_height: float, moment_of_inertia: float, tire_stiffness_front: float, tire_stiffness_rear: float, mass: float, tire_radius: float, distance_to_front_bumper: float, distance_to_rear_bumper: float, max_steering_angle_front_left: float, max_steering_angle_front_right: float, max_steering_angle_back_left: float, max_steering_angle_back_right: float, tire_mass: float = 0.5)[source]

Bases: InitOptions, SaveOptions

Attributes:

`wheelbase`
`track`
`vehicle_width`
`distance_cog_front`
`distance_cog_rear`
`cog_height`
`moment_of_inertia`
`tire_stiffness_front`
`tire_stiffness_rear`
`mass`
`tire_radius`
`distance_to_front_bumper`
`distance_to_rear_bumper`
`max_steering_angle_front_left`
`max_steering_angle_front_right`
`max_steering_angle_back_left`
`max_steering_angle_back_right`
`tire_mass`
`body_height`
`tire_width`
`center_rear_axle`	Center of rear axle in COG coordinate frame.
`center_rear_left_tire`	Left rear tire in COG coordinate frame.
`center_rear_right_tire`	Right rear tire in COG coordinate frame.
`center_front_axle`	Center of front axle in COG coordinate frame.
`center_front_left_tire`	Left front tire in COG coordinate frame.
`center_front_right_tire`	Right front tire in COG coordinate frame.
`steering_limit_rear`
`steering_limit_front`
`tire_dynamics`

wheelbase: float

track: float

vehicle_width: float

distance_cog_front: float

distance_cog_rear: float

cog_height: float

moment_of_inertia: float

tire_stiffness_front: float

tire_stiffness_rear: float

mass: float

tire_radius: float

distance_to_front_bumper: float

distance_to_rear_bumper: float

max_steering_angle_front_left: float

max_steering_angle_front_right: float

max_steering_angle_back_left: float

max_steering_angle_back_right: float

tire_mass: float = 0.5

property body_height

property tire_width

property center_rear_axle: Point

Center of rear axle in COG coordinate frame.

Type:: Point

property center_rear_left_tire: Point

Left rear tire in COG coordinate frame.

Type:: Point

property center_rear_right_tire: Point

Right rear tire in COG coordinate frame.

Type:: Point

property center_front_axle: Point

Center of front axle in COG coordinate frame.

Type:: Point

property center_front_left_tire: Point

Left front tire in COG coordinate frame.

Type:: Point

property center_front_right_tire: Point

Right front tire in COG coordinate frame.

Type:: Point

property steering_limit_rear: JointLimit

property steering_limit_front: JointLimit

property tire_dynamics

simulation.src.gazebo_simulation.src.car_model.dr_drift module

Classes:

DrDrift(specs, camera_specs, tof_sensors[, ...])

Representation of the Dr.

Functions:

load_dr_drift(car_specs_path, ...[, ...])

Create a DrDrift instance with the information located in the provided files.

class DrDrift(specs: CarSpecs, camera_specs: CameraSpecs, tof_sensors: List[TofSensor], name: str = 'dr_drift', version='1.0.0')[source]

Bases: XmlObject

Representation of the Dr. Drift vehicle.

This class can be used to create a gazebo model of our Dr. Drift car. Within the initializer all pieces that make up the simulated model of Dr. Drift are created.

Information about the sensors’ specifications and positions are taken from the car_specs ROS package located in KITcar_brain.

Attributes:

`TAG`
`name`
`version`	Chassis.

TAG = 'robot'

name: Attribute

version: Attribute: Chassis.

load_dr_drift(car_specs_path: str, camera_specs_path: str, coordinate_systems_path: str, save_car_specs: str | None = None, save_camera_calibration: str | None = None, save_static_coordinates: str | None = None) → DrDrift[source]

Create a DrDrift instance with the information located in the provided files.

Parameters:

car_specs_path – Path to a yaml file that can be converted into a CarSpecs instance.
camera_specs_path – Path to a yaml file that can be converted into a CameraSpecs instance.
coordinate_systems_path – Path to a file defining the positions time of flight sensors.
save_car_specs – Path to where the resulting car_specs should be saved.
save_camera_calibration – Path to where the resulting camera calibration should be saved.
save_static_coordinates – Path to where the used static coordinate systems should be saved.

simulation.src.gazebo_simulation.src.car_model.tof_sensors module

Functions:

_get_depth_properties(name)

Classes:

TofSensor(name, origin, properties[, size, mass])

_get_depth_properties(name: str) → DepthCameraProperties[source]

class TofSensor(name: str, origin: simulation.utils.urdf.core.Origin, properties: simulation.utils.urdf.camera.DepthCameraProperties, size: kitcar_utils.geometry.vector.Vector = Vector(0.02, 0.02, 0.02), mass: float = 1e-05)[source]

Bases: object

Attributes:

`name`
`origin`
`properties`
`size`
`mass`
`full_name`

Methods:

with_default_properties(name, origin)

name: str

origin: Origin

properties: DepthCameraProperties

size: Vector = Vector(0.02, 0.02, 0.02)

mass: float = 1e-05

classmethod with_default_properties(name: str, origin: Origin) → TofSensor[source]

property full_name: str

simulation.src.gazebo_simulation.src.car_model package

Submodules

simulation.src.gazebo_simulation.src.car_model.car_specs module

simulation.src.gazebo_simulation.src.car_model.dr_drift module

simulation.src.gazebo_simulation.src.car_model.tof_sensors module

Module contents