Class for evaluating rover performance on a variety of terrain test cases.
A terrainGenerator is used to create
terrain for several types of tests, and terrain objects can also be read
from a file. The different test types supported by the roverEvaluator are:
- fromFile - terrain objects are read from a file
- stepTest - positive and negative step and impulse obstacles,
both half- and full-vehicle width
- slopeTest - sloped, smooth terrain
- distributionTest - terrain is generated from one of several
stochastic rock distributions
The step and distribution tests can also have slopes imposed on them by
altering the gravity vector. The parameters describing each test are
described below under "Test case file".
P-file parameters
- char testCaseFile[] - Filename of the p-file containing test-case
descriptions. (required)
- double totalTraverseKm - Total desired traverse length; used for
computing number of motor revolutions
Test case file
Parameters describing each test case are read
from the file specified by 'testCaseFile' in the evaluator p-file.
Parameters can be specified in the global context of the p-file, or
in the case-specific context (e.g. #testCase2 for test 2). Values
specified in the case-specific context override those in the global
context.
The parameters are:
- int numTestCases - The number of test cases. This must be specified
in the global context (required)
- triple initPos - initial position of the rover's base
(required)
- quaternion initQ - initial orientation of the rover's base
(required)
- double maxCaseTime - maximum time allotted for the test
(required)
- double terrainSizeX - X size of the terrain model, in meters
- double terrainSizeY - Y size of the terrain model, in meters
- double terrainOrigin - origin of the terrain model, in world coordinates
- double groundMuS - static coefficient of friction for ground objects
- double groundMuD - dynamic coefficient of friction for ground objects
- double rockMuS - static coefficient of friction for rock objects
- double rockMuD - dynamic coefficient of friction for rock objects
- int failOnCollision - (0 or 1) indicates whether simulation should be
terminated when a chassis-terrain collision is detected
- double collisionCheckInterval - Maximum time (in seconds) between
checks for chassis-terrain collisions
- double stressCheckInterval - Maximum time (in seconds) between checks
for structural safety factor
- int useRearForCompletion - (0 or 1) indicates whether rear of vehicle
should be checked against goalY to determine successful completion
- double goalY - the "finish line": when the front or rear of the vehicle
reaches this Y coordinate, the simulation will be terminated
- double maxXerror - the maximum allowable deviation of the base's X
coordinate. If the absolute value of the base's X coordinate is ever larger
than this, the simulation will be terminated
- double maxRoll - The maximum allowable vehicle roll
- double maxPitch - The maximum allowable vehicle pitch
- double driveSpeed - Desired driving speed
- double driveAcc - Desired acceleration/deceleration
- double levelBody - (0 or 1) Indicates whether the evaluator should
attempt to level the rover's body at the beginning of simulation
- char activeMetrics[] - a string containing the indices of the metrics
that should be used in the test, separated by single spaces.
In addition, each specific test type has its own parameters:
fromFile
- char terrainFile[] - The name of the file containing the terrain
geometry, in the format used by
daReadObstacles
- int addSlope - (0 or 1) Determines whether the gravity vector
should be altered to impose a slope.
- double slope - The steepness (in degrees, with 0 being horizontal) of
the slope; used only when addSlope is 1.
- double slopeHeading - The direction of the slope. 90 or 270 indicates
a pure cross-slope
stepTest
- double stepStart - starting Y coordinate of the step (required)
- double stepHeight - height (positive) or depth (negative) of the
step obstacle (required)
- double stepLength - length of the obstacle. If stepLength <= 0,
then the obstacle will be a step rather than an impulse.
- int useFullWidth - (0 or 1) Determines whether the obstacle will be
the full width of the vehicle, or will only extend in the negative X
direction from the vehicle center.
- int obsType - Determines whether the obstacles are created as
boxes (0) or ellipsoids (1).
- int addSlope - (0 or 1) Determines whether the gravity vector
should be altered to impose a slope.
- double slope - The steepness (in degrees, with 0 being horizontal) of
the slope; used only when addSlope is 1.
- double slopeHeading - The direction of the slope. 90 or 270 indicates
a pure cross-slope
slopeTest
- double slope - The steepness (in degrees, with 0 being horizontal) of
the slope; used only when addSlope is 1.
- double slopeHeading - The direction of the slope. 90 or 270 indicates
a pure cross-slope
distributionTest
- enum distType { COVERAGE_10, COVERAGE_20, COVERAGE_30, COVERAGE_40 } -
the type of rock distribution. COVERAGE_10 means that 10% of the surface
is covered by rock; the meaning of the other selections is left as
an exercise to the reader. Rock sizes for a particular distribution are
governed by models from Golombek, Rapp, Benard, and others at JPL.
- double minRockDiameter - the minimum diameter rock to add
- double maxRockDiameter - the maximum diameter rock to add
- int randomSeed - an optional seed for the random number generator
- int addSlope - (0 or 1) Determines whether the gravity vector
should be altered to impose a slope.
- double slope - The steepness (in degrees, with 0 being horizontal) of
the slope; used only when addSlope is 1.
- double slopeHeading - The direction of the slope. 90 or 270 indicates
a pure cross-slope
![[more]](icon1.gif)
Initialization data
metricSpecifierList metricSpec