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2_nd order unicycle #5

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merged 4 commits into from
Sep 1, 2023
Merged

2_nd order unicycle #5

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d19d51c
add unicycle_2nd
akmaralAW Sep 1, 2023
8306e3d
fix the bug with xweightb for mrs
akmaralAW Sep 1, 2023
9c3f059
rm comment - fake
akmaralAW Sep 1, 2023
927c3a5
Revert "rm comment - fake"
akmaralAW Sep 1, 2023
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12 changes: 11 additions & 1 deletion include/dynobench/joint_robot.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,15 @@ struct Joint_robot_params{
double unicycle_max_angular_vel = 0.5;
double unicycle_min_angular_vel = -0.5;

double unicycle_second_order_max_vel = 0.5;
double unicycle_second_order_min_vel = -0.5;
double unicycle_second_order_max_angular_vel = 0.5;
double unicycle_second_order_min_angular_vel = -0.5;
double unicycle_second_order_max_acc = 0.25;
double unicycle_second_order_min_acc = -0.25;
double unicycle_second_order_max_angular_acc = 0.25;
double unicycle_second_order_min_angular_acc = -0.25;

double car_with_trailer_l = .25;
double car_with_trailer_max_vel = .5;
double car_with_trailer_min_vel = -.1;
Expand All @@ -32,7 +41,7 @@ struct Joint_robot_params{


Eigen::Vector2d size = Eigen::Vector2d(.5, .25);
Eigen::Vector2d distance_weights = Eigen::Vector2d(1, .5);
Eigen::Vector4d distance_weights = Eigen::Vector4d(1, .5, .25, .25);
double radius = 0.1;
double big_radius = 0.40;
std::string shape = "box";
Expand Down Expand Up @@ -90,6 +99,7 @@ struct Joint_robot : Model_robot {
void get_u_ub(const std::vector<std::string> &robot_types, Eigen::VectorXd &ub);
void get_x_lb(const std::vector<std::string> &robot_types, Eigen::VectorXd &x_lb);
void get_x_ub(const std::vector<std::string> &robot_types, Eigen::VectorXd &x_ub);
void get_x_weightb(const std::vector<std::string> &robot_types, Eigen::VectorXd &x_weightb);
void get_collision_geometries(const std::vector<std::string> &robot_types,
std::vector<std::shared_ptr<fcl::CollisionGeometryd>> &col_geom);
int get_nx_col(const std::vector<std::string> &robot_types);
Expand Down
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