protocol

Documentation

Index

• type Attitude
• type Input
• type Output
• type Profile
• type Vehicle
• type VehicleProfile
• type WorldProfile

Types

type Attitude

type Attitude struct {
	Position   []float64 `json:"position"`   // length=3
	Quaternion []float64 `json:"quaternion"` // length=4
}

Attitude ...

type Input

type Input struct {
	Name     string  `json:"name"`
	Steering float64 `json:"steering"`
	Accel    float64 `json:"accel"`
	Brake    float64 `json:"brake"`
}

Input ...

type Output

type Output struct {
	Self   *Vehicle
	Others []*Vehicle
}

Output ...

type Profile

type Profile struct {
	World   WorldProfile
	Vehicle VehicleProfile
}

Profile ...

type Vehicle

type Vehicle struct {
	Name  string
	Body  Attitude   `json:"body"`
	Tires []Attitude `json:"tires"`
}

Vehicle ...

type VehicleProfile

type VehicleProfile struct {
	BodyDensity        float64   // default 0.2
	BodyBox            []float64 // { width, height, length }
	BodyZOffset        float64   // Offset Adjust from center of wheels
	Wheelbase          float64   // default 0.267m
	Tread              float64   // default 0.160m
	TireDensity        float64   // default 0.1
	TireDiameter       float64   // default 0.088m
	TireWidth          float64   // default 0.033m
	FudgeFactorJtParam float64
	SuspensionStep     float64
	SuspensionSpring   float64
	SuspensionDamping  float64
}

VehicleProfile ...

type WorldProfile

type WorldProfile struct {
	Gravity                []float64
	CFM                    float64
	ERP                    float64
	QuickStepW             float64
	QuickStepNumIterations int
	CollideNum             int
	Mu                     float64
	SoftCfm                float64
	SoftErp                float64
}

WorldProfile ...