Struct jalansim::dynamics::models::DiffDriveTorque

template <typename T>

ClassList > jalansim > dynamics > models > DiffDriveTorque

Differential drive robot with torque-based control. More...

• #include <diff_drive_torque.hpp>

Public Attributes

Type	Name
T	torque_max = T(50.0) Maximum wheel torque (N⋅m)
T	torque_min = T(-50.0) Minimum wheel torque (N⋅m)
T	w_max = T(20.4082) Maximum wheel angular velocity (rad/s)
T	w_min = T(-20.4082) Minimum wheel angular velocity (rad/s)
T	wheel_J = T(0.0024) Wheel moment of inertia (kg⋅m²)
T	wheel_b = T(0.262) Wheelbase/track width (m)
T	wheel_r = T(0.098) Wheel radius (m)

Public Static Attributes

Type	Name
std::size_t	INPUT_DIM = 2 Input dimension: [torque_r, torque_l].
std::size_t	STATE_DIM = 5 State dimension: [x, y, theta, wr, wl].

Public Functions

Type	Name
JALANSIM_HOST_DEVICE void	reset () Reset the model to initial state.
JALANSIM_HOST_DEVICE void	rhs (const T * x, const T * u, T * dx, T dt=T(0)) const Compute state derivatives with torque dynamics.

Public Static Functions

Type	Name
JALANSIM_HOST_DEVICE T	clamp (T v, T lo, T hi) Clamp a value between lower and upper bounds.

Detailed Description

Implements a more detailed differential drive model with wheel angular velocities as part of the state and torque inputs. Models wheel inertia and includes constraints on wheel angular velocities and input torques.

State: [x, y, theta, omega_right, omega_left] Input: [torque_right, torque_left]

Template parameters:

• T Numeric type (default: double)

Public Attributes Documentation

variable torque_max

Maximum wheel torque (N⋅m)

T jalansim::dynamics::models::DiffDriveTorque< T >::torque_max;

---

variable torque_min

Minimum wheel torque (N⋅m)

T jalansim::dynamics::models::DiffDriveTorque< T >::torque_min;

---

variable w_max

Maximum wheel angular velocity (rad/s)

T jalansim::dynamics::models::DiffDriveTorque< T >::w_max;

---

variable w_min

Minimum wheel angular velocity (rad/s)

T jalansim::dynamics::models::DiffDriveTorque< T >::w_min;

---

variable wheel_J

Wheel moment of inertia (kg⋅m²)

T jalansim::dynamics::models::DiffDriveTorque< T >::wheel_J;

---

variable wheel_b

Wheelbase/track width (m)

T jalansim::dynamics::models::DiffDriveTorque< T >::wheel_b;

---

variable wheel_r

Wheel radius (m)

T jalansim::dynamics::models::DiffDriveTorque< T >::wheel_r;

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Public Static Attributes Documentation

variable INPUT_DIM

Input dimension: [torque_r, torque_l].

std::size_t jalansim::dynamics::models::DiffDriveTorque< T >::INPUT_DIM;

---

variable STATE_DIM

State dimension: [x, y, theta, wr, wl].

std::size_t jalansim::dynamics::models::DiffDriveTorque< T >::STATE_DIM;

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Public Functions Documentation

function reset

Reset the model to initial state.

inline JALANSIM_HOST_DEVICE void jalansim::dynamics::models::DiffDriveTorque::reset () 

---

function rhs

Compute state derivatives with torque dynamics.

inline JALANSIM_HOST_DEVICE void jalansim::dynamics::models::DiffDriveTorque::rhs (
    const T * x,
    const T * u,
    T * dx,
    T dt=T(0)
) const

Parameters:

• x State vector [x, y, theta, omega_r, omega_l]
• u Input vector [torque_r, torque_l]
• dx Output state derivatives
• dt Time step for constraint enforcement

---

Public Static Functions Documentation

function clamp

Clamp a value between lower and upper bounds.

static inline JALANSIM_HOST_DEVICE T jalansim::dynamics::models::DiffDriveTorque::clamp (
    T v,
    T lo,
    T hi
) 

Parameters:

• v Value to clamp
• lo Lower bound
• hi Upper bound

Returns:

Clamped value

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The documentation for this class was generated from the following file include/jalansim/dynamics/models/diff_drive_torque.hpp