GroundVehicleMotion

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The GroundVehicleMotion logic component handles the motion Model for the ground vehicle.

Type: Logic Object Component
File: GroundVehicleMotion.slc
Version: 450.1000.342.1


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Icon properties.png Properties

NameDescriptionMaxValueMinValueDisplayNameUnitTypeUnitName
PROP_AGL_HEIGHT  Object AGL Height.  AGL Height  Default  Default 
PROP_BRAKE_CMD_WHEN_THROTTLE_RELEASED  If PROP_IS_TO_STOP_WHEN_THROTTLE_RELEASED is true, this is the brake command to apply when the throttle is released  100    Default  Default 
PROP_HEADING  Object heading  360  Heading  Default  Default 
PROP_INITIAL_SPEED_KPH  The initial forward speed [Km / Hr]  Initial Speed [Km/Hr]  Speed  Kilometer Per Hour 
PROP_IS_AGL  Indicates if PROP_AGL_HEIGHT should be used.  Use AGL height  Default  Default 
PROP_IS_AUTOMATIC_GEAR_SHIFT  Is automatic gear shift    Default  Default 
PROP_IS_HAVE_CHAINS  Is the vehicle have chains so it can rotate without moving    Default  Default 
PROP_IS_STEERING_WHEEL_RETURNS_TO_CENTER  Is the steering wheel returns to the center when released    Default  Default 
PROP_IS_TO_STOP_WHEN_THROTTLE_RELEASED  Is to stop when the throttle is released    Default  Default 
PROP_LATITUDE  Object Latitude  Latitude  Default  Default 
PROP_LONGITUDE  Object Longitude  Longitude  Default  Default 
PROP_PARAMS_FILE_NAME  The parameters file name    File System  File 
PROP_POSITION_PRECISION_ON_TERRAIN  The precision of the wheel position on the terrain [m]. Set negative value to ignore.  10  -10    Default  Default 
PROP_TIME_TO_FULL_THROTTLE  Time for full acceleration    Default  Default 
PROP_XPOSITION  Object X Position    Default  Default 
PROP_YPOSITION  Object Y Position    Default  Default 
PROP_ZPOSITION  Object Z Position  Altitude  Default  Default 

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Icon attributes.png Attributes

NameDescriptionParam1Param2DisplayNameUnitTypeUnitName
ATT_ABS_VELOCITY  Absolute velocity  float &      Speed  Meter Per Second 
ATT_ACCELERATION_CMD  The acceleration command  int &      Default  Default 
ATT_ANG_ACCELERATION  ATT_ANG_ACCELERATION  AngularVec &      Default  Default 
ATT_ANG_VELOCITY  ATT_ANG_VELOCITY  AngularVec &      Default  Default 
ATT_AUTO_DRIVER_REQUIRED_HDG  The required heading [deg]  float &      Angle  Degree 
ATT_AUTO_DRIVER_REQUIRED_SPEED  The required speed [kph]  float &      Speed  Kilometer Per Hour 
ATT_BODY_ACCELERATION  The acceleration in body coordinates  LinearVec &      Acceleration  Meter Per Second Squared 
ATT_BODY_VELOCITY  The velocity in body coordinates  LinearVec &      Speed  Meter Per Second 
ATT_BRAKE_CMD  The brakes command [0 - 100]  int &      Default  Default 
ATT_CRUISE_CONTROL_ON  is Cruise Control On  bool &      Default  Default 
ATT_CRUISE_CONTROL_SPEED  Desired Cruise control MPH  float &      Speed  Mile Per Hour 
ATT_CURRENT_GEAR  The current gear  int &      Default  Default 
ATT_DEBUG_PARAM  Debug  const int  float &    Default  Default 
ATT_ENGINE_WATER_TEMP_PCT  The percentage of the maximal engine tempertaure  float &      Default  Default 
ATT_FRONT_WHEELS_STEER_ANGLE  The front wheel steer angle [deg]  float &      Angle  Degree 
ATT_FUEL_QUANTITY_LITRES  The vehicle fuel quantity [Liters]  float &      Mass  KG 
ATT_FUEL_QUANTITY_PERCENTAGE  The vehicle fuel quantity [%]  float &      Default  Default 
ATT_IS_HIGH_LEVEL_GROUND_MOTION_MODEL_EXISTS  Indicates to the GroundMotionManager that the high level motion model exists  bool &      Default  Default 
ATT_IS_IN_MOTION  Is in motion? Boolean answer.  bool &      Default  Default 
ATT_IS_LEFT_CHAIN_CONTACT  Is the left chain in contact with ground  bool &      Default  Default 
ATT_IS_MOTION_LOCKED  Is motion locked - lower resource consumption   bool &      Default  Default 
ATT_IS_MOTION_MODEL_UNIT  Is this SLC a part of the object's motion model  bool &      Default  Default 
ATT_IS_ON_GROUND  Returns if the entity is on ground  bool &      Default  Default 
ATT_IS_PARKING_BRAKE_ON  Is the parking brake on  bool &      Default  Default 
ATT_IS_RIGHT_CHAIN_CONTACT  Is the right chain in contact with ground  bool &      Default  Default 
ATT_LATITUDE  Entity Latitude [rad]  double &      Angle  Radian 
ATT_LIN_ACCELERATION  The acceleration in world coordinates  LinearVec &      Acceleration  Meter Per Second Squared 
ATT_LIN_VELOCITY  The velocity in world coordinates  LinearVec &      Speed  Meter Per Second 
ATT_LOCATION  Location (x,y,z,pitch,roll,yaw)  Location &      Coordinate System  Local 
ATT_LONGITUDE  Entity Longitude [rad]  double &      Angle  Radian 
ATT_ORIENTATION  Orientation (pitch,roll,yaw)  AngularVec &      Default  Default 
ATT_POSITION  Position (x,y,z)  LinearVec &      Coordinate System  Local 
ATT_SPEED_KPH  The vehicle speed [Km/Hr]  float &      Speed  Kilometer Per Hour 
ATT_SPEED_MPH  The vehicle speed [Mile/Hr]  float &      Speed  Mile Per Hour 
ATT_STEER_RATE_CMD  The steer rate command  int &      Default  Default 
ATT_STEERING_WHEEL_ANG_DEG  The vehicle steering wheel angle.  float &      Angle  Degree 
ATT_TRUE_HEADING  The velocity vector direction  float &      Angle  Degree 
ATT_VEHICLE_ENGINE_RPM  Returns the engine rpm[Rpm]  float &      Default  Default 
ATT_VEHICLE_WHEELS_WORLD_POSITION  The vehicle wheels world position. Index 0 = forward left, Index 1 = forward right, Index 2 = rear left, Index 3 = rear right  const int  LinearVec &    Default  Default 
ATT_WHEELS_FORWARD_SPEED  The forward speed of each wheel [m/sec]  const int  float &    Speed  Meter Per Second 
ATT_WHEELS_Z_ABOVE_GROUND  The wheels position above ground. The wheels index is from Left Front, CW  const int  float &    Length  Meter 
ATT_WHEELS_ZDOT  The wheel vertical velocity. The wheels index is from Left Front, CW  const int  float &    Speed  Meter Per Second 

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Icon actions.png Actions

NameDescriptionParam1Param2DisplayNameUnitTypeUnitName
ACTION_AUTO_DRIVER_ENGAGE_DIRECTION_CONTROL  Engages / disengages the heading control loop, including go-to point and follow entity   const bool      Default  Default 
ACTION_AUTO_DRIVER_ENGAGE_SPEED_CONTROL  Engages / Disengages the speed control loop  const bool      Default  Default 
ACTION_AUTO_DRIVER_GO_TO_OTHER_ENTITY  Goes to other entity location, whose ID was sent  const int      Default  Default 
ACTION_AUTO_DRIVER_GO_TO_POINT  Go to the a point in the world (ignoring Z)  const LinearVec &      Default  Default 
ACTION_AUTO_DRIVER_SET_HEADING  Sets the required travel direction [deg]  const float      Default  Default 
ACTION_AUTO_DRIVER_SET_SPEED  Sets the required speed   const float      Speed  Meter Per Second 
ACTION_AUTO_DRIVER_TURN_OFF  Turns off the auto-driver        Default  Default 
ACTION_GROUND_VEHICLE_MOTION_SET_ACTIVE  Activate / Deactivate the high level ground motion model  const bool      Default  Default 
ACTION_SET_LOCATION_AND_SPEED  Start model motion with the required Location and Speed  const Location &  const LinearVec &    Default  Default 
ACTION_SET_STEER_ANGLE_CMD  Sets the steer angle command (-100 -> 100)  const float      Default  Default 
ACTION_SET_THROTTLE_CMD  Sets the required throttle command (-100 to 100)  const float      Default  Default 
ACTION_START_MODEL_MOTION  Start model motion  const Location &  const LinearVec &    Default  Default 
COMBINED_BRAKE_PEDDAL|COMBINED_GAS_PEDDAL  Brake Peddal Pressed  const int  const int    Default  Default 
INPUT_ACCEL_CMD_ADD|INPUT_ACCEL_CMD_REDUCE  Acceleration cmd  const int  const int    Default  Default 
INPUT_AUTO_DRIVER_NAV_ON  Engages the auto-driver to navigate through waypoints  const int  const int    Default  Default 
INPUT_AUTO_DRIVER_OFF  Disengage the auto-driver  const int  const int    Default  Default 
INPUT_AUTO_DRIVER_ON  Engages the auto-driver to keep the current speed and direction  const int  const int    Default  Default 
INPUT_CANCEL_REVERSE_GEAR  Cancels the reverse gear set  const int  const int    Default  Default 
INPUT_DECREMENT_GEAR  Decrements the current gear  const int  const int    Default  Default 
INPUT_INCREMENT_GEAR  Increments the current gear  const int  const int    Default  Default 
INPUT_JOY_STEER_CMD_RIGHT|INPUT_JOY_STEER_CMD_LEFT  Steer cmd right  const int  const int    Default  Default 
INPUT_PARKING_BRAKE_OFF  Sets the parking brake off  const int  const int    Default  Default 
INPUT_PARKING_BRAKE_ON  Sets the parking brake on  const int  const int    Default  Default 
INPUT_RESET  Resets the vehicle position   const int  const int    Default  Default 
INPUT_SET_REVERSE_GEAR  Sets the vehicle to reversed gear  const int  const int    Default  Default 
INPUT_STEER_CMD_RIGHT|INPUT_STEER_CMD_LEFT  Steer cmd right  const int  const int    Default  Default 
INPUT_THROTTLE_ADD|INPUT_THROTTLE_REDUCE  Add Throttle, Reduce Throttle  const int  const int    Default  Default 

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Icon attributes.png Required Attributes

Name
ATT_AZIMUTH_TO_CURRENT_WAYPOINT 
ATT_BODY_FORCES_NO_G 
ATT_BODY_MOMENTS 
ATT_CONVOY_DRIVE_MODE 
ATT_GEARED_MOTORS_MAX_SPEED 
ATT_HEADING_TRUE 
ATT_IS_TO_STOP_HIGH_LEVEL_MODEL 
ATT_MANEUVERS_STACK_POINTER 
ATT_NUMBER_OF_WAYPOINTS 
ATT_SMG_FRONT_WHEEL_RADIUS 
ATT_SMG_PHYSICS_IS_COLLIDABLE 
ATT_SMG_PHYSICS_IS_STATIC 
ATT_SMG_SOLID_POINTER 
ATT_SMG_SUBPART_ANGULAR_VELOCITY 
ATT_SMG_TOTAL_MASS 

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Icon actions.png Required Actions

Name
ACTION_SET_EXTERNAL_FORCE 
ACTION_SET_EXTERNAL_MOMENT 
ACTION_SET_GEARED_MOTOR_BRAKE_CMD 
ACTION_SET_GEARED_MOTOR_RATIO 
ACTION_SET_GEARED_MOTOR_THROTTLE_CMD 
ACTION_SET_SERVO_REQUIRED_ANGLE_CMD 

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