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Vehicle Dynamics Library

Overview

This library provides tools for simulating vehicle dynamics, integrating physical models, and managing vehicle states and commands. The components are modular and designed to support the simulation of autonomous vehicles, including trajectory planning and control-

Features

  • Integration Methods:
  • Efficient Runge-Kutta 4th order (RK4) integration for dynamic systems.
  • Physical Vehicle Models:
  • Predefined parameters for common vehicle models (e.g., bicycle model).
  • Trajectory Handling:
  • Support for trajectory generation and interpolation.
  • Vehicle State Management:
  • Classes for managing vehicle states and transitions.
  • Vehicle Command Abstractions:
  • Structures to encapsulate commands such as steering, acceleration.

Included Modules

Integration

File: integration.hpp - Provides tools for numerical integration - Core functionality for advancing dynamic systems in time.

RK4 Solver

File: OdeRK4.hpp - Implements the 4th-order Runge-Kutta solver.

Physical Vehicle Parameters

File: physical_vehicle_parameters.hpp - Contains parameter definitions for vehicle models. - Includes attributes such as wheelbase, mass, and maximum steering angles.

Trajectory Handling

File: trajectory.hpp - Provides trajectory representations and interpolation methods.

Vehicle Command

File: vehicle_command.hpp - Encapsulates vehicle control commands - steering angles and acceleration.

Vehicle State

File: vehicle_state.hpp - Manages the state of a simulated vehicle, including position, velocity, and orientation. - Provides methods for state updates and transformations.