Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Wheel slip nonlinear effect part 2 (not for merging) #3399

Closed
wants to merge 9 commits into from
Closed

Wheel slip nonlinear effect part 2 (not for merging) #3399

wants to merge 9 commits into from

Commits on Aug 28, 2023

  1. Add Model::GetMass API that returns cached mass 

    This breaks ABI, so is not intended for gazebo11.
Compute and cache mass in Model::Init.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Aug 28, 2023
    Configuration menu
    Copy the full SHA
    2e61240 View commit details
    Browse the repository at this point in the history

  2. Add ODELink::AddedForce accessor 

    This returns the total forces added by the
AddForce and AddRelativeForce APIs. This change
breaks ABI and is not intended for gazebo11.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Aug 28, 2023
    Configuration menu
    Copy the full SHA
    60ca901 View commit details
    Browse the repository at this point in the history

Commits on Aug 29, 2023

  1. ODECollision: add nonlinear_slip plowing params 

    Apply scaling to slip compliance above and below
threshold slopes to induce a nonnlinear effect.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Aug 29, 2023
    Configuration menu
    Copy the full SHA
    65cc16d View commit details
    Browse the repository at this point in the history

  2. Fix whitespace in example world 

    Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Aug 29, 2023
    Configuration menu
    Copy the full SHA
    5101e48 View commit details
    Browse the repository at this point in the history

  3. ODEPhysics: implement nonlineaar slip effect 

    Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Aug 29, 2023
    Configuration menu
    Copy the full SHA
    87da654 View commit details
    Browse the repository at this point in the history

  4. Example world with nonlinear slip effect 

    Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Aug 29, 2023
    Configuration menu
    Copy the full SHA
    9f96569 View commit details
    Browse the repository at this point in the history

Commits on Oct 10, 2023

  1. Add parameter to disable slip scaling 

    The slip compliance parameters are currently scaled
by the number of contact points, but this can cause
issues on heightmaps when transitioning between
triangle patches. This adds a parameter to disable
the scaling behavior, while retaining the current
behavior as the default.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Oct 10, 2023
    Configuration menu
    Copy the full SHA
    6a96f11 View commit details
    Browse the repository at this point in the history

Commits on Dec 7, 2023

  1. Add piecewise linear wheel slip parameters 

    This extends the nonlinear wheel slip model with
piecewise linear parameters for the slip compliance
multipliers.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Dec 7, 2023
    Configuration menu
    Copy the full SHA
    2509e1b View commit details
    Browse the repository at this point in the history

Commits on Dec 9, 2023

  1. Add lateral nonlinear slip parameters as well 

    * Refactor the data definitions and parsing method
  to reduce duplication.
* Refine some unit vector calculations in ODEPhysics
  as well.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Dec 9, 2023
    Configuration menu
    Copy the full SHA
    89eaf90 View commit details
    Browse the repository at this point in the history