用C++的类在ros里面写一段考虑轮胎侧偏刚度的四轮转向车辆的动力学单车模型,通过订阅前后轮转角,发布以后轴为参考点的位置信息,航向角信息,车辆纵向速度,车辆横向速度,车辆横摆角速度
时间: 2024-04-16 16:25:12 浏览: 23
以下是一个考虑轮胎侧偏刚度的四轮转向车辆动力学单车模型的C++类实现,它可以在ROS中使用:
```cpp
#include <ros/ros.h>
#include <std_msgs/Float64.h>
#include <geometry_msgs/Pose2D.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <cmath>
class FourWheelSteering
{
public:
FourWheelSteering()
{
// 订阅前后轮转角信息
front_wheel_sub_ = nh_.subscribe("front_wheel_angle", 1, &FourWheelSteering::frontWheelAngleCallback, this);
rear_wheel_sub_ = nh_.subscribe("rear_wheel_angle", 1, &FourWheelSteering::rearWheelAngleCallback, this);
// 发布车辆状态信息
pose_pub_ = nh_.advertise<geometry_msgs::Pose2D>("pose", 1);
twist_pub_ = nh_.advertise<geometry_msgs::Twist>("twist", 1);
// 初始化车辆状态
pose_.x = 0.0;
pose_.y = 0.0;
pose_.theta = 0.0;
twist_.linear.x = 0.0;
twist_.linear.y = 0.0;
twist_.angular.z = 0.0;
// 轮胎侧偏刚度参数
tire_cornering_stiffness_ = 10000.0;
}
void frontWheelAngleCallback(const std_msgs::Float64::ConstPtr& msg)
{
front_wheel_angle_ = msg->data;
}
void rearWheelAngleCallback(const std_msgs::Float64::ConstPtr& msg)
{
rear_wheel_angle_ = msg->data;
}
void calculateState()
{
// 假设车辆参数
double wheelbase = 1.0; // 轴距
double track = 0.8; // 车宽
double mass = 1000.0; // 质量
double friction_coefficient = 0.8; // 摩擦系数
// 计算车辆状态
double theta = pose_.theta;
double beta = atan2(wheelbase * tan(front_wheel_angle_) / track, 1.0);
double v = twist_.linear.x;
double delta = rear_wheel_angle_;
double Fy = -tire_cornering_stiffness_ * atan2(tan(delta) - (track / (2.0 * wheelbase)) * tan(front_wheel_angle_), 1.0);
double Fx = mass * v * v * tan(front_wheel_angle_) / (wheelbase * cos(front_wheel_angle_) * cos(front_wheel_angle_));
double x_dot = v * cos(theta) + (Fx / mass) * dt_;
double y_dot = v * sin(theta) + (Fy / mass) * dt_;
double theta_dot = (v / wheelbase) * sin(beta) * cos(front_wheel_angle_) + (Fy * wheelbase / (mass * v)) * cos(beta) * sin(front_wheel_angle_);
// 更新车辆状态
pose_.x += x_dot * dt_;
pose_.y += y_dot * dt_;
pose_.theta += theta_dot * dt_;
twist_.linear.x = v;
twist_.linear.y = y_dot;
twist_.angular.z = theta_dot;
}
void publishState()
{
pose_pub_.publish(pose_);
twist_pub_.publish(twist_);
}
void run()
{
ros::Rate rate(10); // 控制循环频率为10Hz
while (ros::ok())
{
calculateState();
publishState();
ros::spinOnce();
rate.sleep();
}
}
private:
ros::NodeHandle nh_;
ros::Subscriber front_wheel_sub_;
ros::Subscriber rear_wheel_sub_;
ros::Publisher pose_pub_;
ros::Publisher twist_pub_;
double front_wheel_angle_;
double rear_wheel_angle_;
geometry_msgs::Pose2D pose_;
geometry_msgs::Twist twist_;
double dt_ = 0.1; // 控制周期为0.1s
double tire_cornering_stiffness_;
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "four_wheel_steering");
FourWheelSteering four_wheel_steering;
four_wheel_steering.run();
return 0;
}
```
你可以将以上代码保存为一个名为`four_wheel_steering.cpp`的文件,并在ROS工作空间中进行编译和运行。
注意:在运行节点之前,需要先发布前后轮转角信息到`front_wheel_angle`和`rear_wheel_angle`话题上,以供节点订阅。此外,根据实际情况修改车辆参数、控制周期和轮胎侧偏刚度参数。