This class implements the Unicycle Model. This model is used to predict the future state of the rover given a current state and control input. More...

#include <UnicycleModel.hpp>

Classes
struct	Prediction
	This struct is used to store the predicted state of the unicycle. More...

Public Member Functions
	UnicycleModel ()
	Construct a new Unicycle Model object.

	UnicycleModel (const double dXPosition, const double dYPosition, const double dTheta)
	Construct a new Unicycle Model object.

void	ResetState (const double dXPosition, const double dYPosition, const double dTheta)
	Resets the state of the model to a new position and heading.

void	ResetState ()
	Resets the state of the model to a default state.

void	UpdateState (const double dXPosition, const double dYPosition, const double dTheta)
	Update the state of the model, given a new position and heading. This method will automatically calculate the velocity of the rover base on the new and current position. The steering angle is also updated automatically based on the new and current heading.

void	Predict (const double dTimeStep, const int nNumPredictions, std::vector< Prediction > &vPredictions)
	Accessor for the State private member.

void	SetXPosition (const double dXPosition)
	Mutator for the XPosition private member.

void	SetYPosition (const double dYPosition)
	Mutator for the YPosition private member.

void	SetTheta (const double dTheta)
	Mutator for the Theta private member.

void	SetAngularVelocity (const double dAngularVelocity)
	Mutator for the Angular Velocity private member.

double	GetXPosition () const
	Accessor for the XPosition private member.

double	GetYPosition () const
	Accessor for the YPosition private member.

double	GetTheta () const
	Accessor for the Theta private member.

double	GetVelocity () const
	Accessor for the Velocity private member.

double	GetAngularVelocity () const
	Accessor for the Angular Velocity private member.

Private Attributes
double	m_dXPosition

double	m_dYPosition

double	m_dTheta

double	m_dVelocity

double	m_dAngularVelocity

std::chrono::system_clock::time_point	m_tmLastUpdateTime

Detailed Description

This class implements the Unicycle Model. This model is used to predict the future state of the rover given a current state and control input.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-4

Constructor & Destructor Documentation

◆ UnicycleModel() [1/2]

UnicycleModel::UnicycleModel ( )

inline

Construct a new Unicycle Model object.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-4

        {
            // Initialize member variables.
            m_dXPosition       = 0.0;
            m_dYPosition       = 0.0;
            m_dTheta           = 0.0;
            m_dVelocity        = -1.0;
            m_dAngularVelocity = 0.0;
            m_tmLastUpdateTime = std::chrono::system_clock::now();
        }

◆ UnicycleModel() [2/2]

UnicycleModel::UnicycleModel	(	const double	dXPosition,
		const double	dYPosition,
		const double	dTheta
	)

inline

Construct a new Unicycle Model object.

Parameters

dXPosition	- The x position of the rover.
dYPosition	- The y position of the rover.
dTheta	- The heading angle of the rover in degrees.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-4

        {
            // Initialize member variables.
            m_dXPosition       = dXPosition;
            m_dYPosition       = dYPosition;
            m_dTheta           = dTheta;
            m_dVelocity        = -1.0;
            m_dAngularVelocity = 0.0;
            m_tmLastUpdateTime = std::chrono::system_clock::now();
        }

Member Function Documentation

◆ ResetState() [1/2]

void UnicycleModel::ResetState	(	const double	dXPosition,
		const double	dYPosition,
		const double	dTheta
	)

inline

Resets the state of the model to a new position and heading.

Parameters

dXPosition	- The x position of the rover.
dYPosition	- The y position of the rover.
dTheta	- The heading angle of the rover in degrees.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-4

        {
            // Update member variables.
            m_dXPosition       = dXPosition;
            m_dYPosition       = dYPosition;
            m_dTheta           = dTheta;
            m_dAngularVelocity = 0.0;
            m_dVelocity        = -1.0;
            m_tmLastUpdateTime = std::chrono::system_clock::now();
        }

Here is the caller graph for this function:

◆ ResetState() [2/2]

void UnicycleModel::ResetState ( )

inline

Resets the state of the model to a default state.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-04

        {
            // Update member variables.
            m_dXPosition       = 0.0;
            m_dYPosition       = 0.0;
            m_dTheta           = 0.0;
            m_dAngularVelocity = 0.0;
            m_dVelocity        = -1.0;
            m_tmLastUpdateTime = std::chrono::system_clock::now();
        }

◆ UpdateState()

void UnicycleModel::UpdateState	(	const double	dXPosition,
		const double	dYPosition,
		const double	dTheta
	)

inline

Update the state of the model, given a new position and heading. This method will automatically calculate the velocity of the rover base on the new and current position. The steering angle is also updated automatically based on the new and current heading.

Parameters

dXPosition	- The x position of the rover.
dYPosition	- The y position of the rover.
dTheta	- The heading angle of the rover in degrees.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-04

        {
            // Check if this is our first update.
            if (m_dVelocity == -1.0)
            {
                // Set the velocity to zero.
                m_dVelocity = 0.0;
            }
            // Calculate the velocity of the rover as long as the new position is different from the current position.
            else if (dXPosition != m_dXPosition || dYPosition != m_dYPosition)
            {
                // Calculate the velocity of the rover.
                std::chrono::system_clock::time_point tmCurrentTime = std::chrono::system_clock::now();
                double dTimeElapsed = std::chrono::duration_cast<std::chrono::milliseconds>(tmCurrentTime - m_tmLastUpdateTime).count() / 1000.0;
                m_dVelocity         = std::sqrt(std::pow(dXPosition - m_dXPosition, 2) + std::pow(dYPosition - m_dYPosition, 2)) / dTimeElapsed;
 
                // Update the last update time.
                m_tmLastUpdateTime = tmCurrentTime;
            }
 
            // Update member variables.
            m_dXPosition = dXPosition;
            m_dYPosition = dYPosition;
            m_dTheta     = dTheta;
        }

Here is the caller graph for this function:

◆ Predict()

void UnicycleModel::Predict	(	const double	dTimeStep,
		const int	nNumPredictions,
		std::vector< Prediction > &	vPredictions
	)

inline

Accessor for the State private member.

Parameters

dTimeStep	- The time step to predict the future state. How far into the future to predict.
nNumPredictions	- The number of predictions to make.
vPredictions	- The vector of predictions to store the predicted states.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-04

        {
            // Start from the current state.
            double dXPredicted     = m_dXPosition;
            double dYPredicted     = m_dYPosition;
            double dThetaPredicted = m_dTheta;
 
            // Perform prediction for a specified number of time steps.
            for (int nIter = 0; nIter < nNumPredictions; ++nIter)
            {
                // Convert theta from degrees to radians for calculation.
                double dThetaRad = dThetaPredicted * M_PI / 180.0;
 
                // Calculate the new state.
                dXPredicted += m_dVelocity * std::sin(dThetaRad) * dTimeStep;
                dYPredicted += m_dVelocity * std::cos(dThetaRad) * dTimeStep;
                dThetaPredicted += (m_dAngularVelocity) *dTimeStep;
 
                // Ensure theta stays within 0-360 degrees.
                dThetaPredicted = numops::InputAngleModulus(dThetaPredicted, 0.0, 360.0);
 
                // Store the new state.
                Prediction stPrediction{dXPredicted, dYPredicted, dThetaPredicted};
                vPredictions.push_back(stPrediction);
            }
        }

Here is the call graph for this function:

Here is the caller graph for this function:

◆ SetXPosition()

void UnicycleModel::SetXPosition ( const double dXPosition )

inline

Mutator for the XPosition private member.

Parameters

dXPosition - The x position of the rover.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-04

226{ m_dXPosition = dXPosition; }

◆ SetYPosition()

void UnicycleModel::SetYPosition ( const double dYPosition )

inline

Mutator for the YPosition private member.

Parameters

dYPosition - The y position of the rover.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-01-10

236{ m_dYPosition = dYPosition; }

◆ SetTheta()

void UnicycleModel::SetTheta ( const double dTheta )

inline

Mutator for the Theta private member.

Parameters

dTheta - The heading angle of the rover in degrees.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-04

246{ m_dTheta = dTheta; }

◆ SetAngularVelocity()

void UnicycleModel::SetAngularVelocity ( const double dAngularVelocity )

inline

Mutator for the Angular Velocity private member.

Parameters

dAngularVelocity - The angular velocity of the rover in degrees per second.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-4

256{ m_dAngularVelocity = dAngularVelocity; }

◆ GetXPosition()

double UnicycleModel::GetXPosition ( ) const

inline

Accessor for the XPosition private member.

Returns: double - The x position of the rover.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-04

270{ return m_dXPosition; }

◆ GetYPosition()

double UnicycleModel::GetYPosition ( ) const

inline

Accessor for the YPosition private member.

Returns: double - The y position of the rover.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-04

280{ return m_dYPosition; }

◆ GetTheta()

double UnicycleModel::GetTheta ( ) const

inline

Accessor for the Theta private member.

Returns: double - The heading angle of the rover in degrees.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-04

290{ return m_dTheta; }

◆ GetVelocity()

double UnicycleModel::GetVelocity ( ) const

inline

Accessor for the Velocity private member.

Returns: double - The velocity of the rover.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-04

300{ return m_dVelocity; }

Here is the caller graph for this function:

◆ GetAngularVelocity()

double UnicycleModel::GetAngularVelocity ( ) const

inline

Accessor for the Angular Velocity private member.

Returns: double - The angular velocity of the rover in degrees per second.

Author: Bailey Schoenike (baile.nosp@m.yps0.nosp@m.3@gma.nosp@m.il.c.nosp@m.om)

Date: 2025-10-4

310{ return m_dAngularVelocity; }

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

src/algorithms/kinematics/UnicycleModel.hpp

Classes

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ UnicycleModel() [1/2]

◆ UnicycleModel() [2/2]

Member Function Documentation

◆ ResetState() [1/2]

◆ ResetState() [2/2]

◆ UpdateState()

◆ Predict()

◆ SetXPosition()

◆ SetYPosition()

◆ SetTheta()

◆ SetAngularVelocity()

◆ GetXPosition()

◆ GetYPosition()

◆ GetTheta()

◆ GetVelocity()

◆ GetAngularVelocity()