VehicleMobility

simple module

Mobility model for ground vehicles that follow waypoints with realistic turning behavior. Reads waypoints from a file and moves the vehicle along them at a specified speed, calculating appropriate angular velocity for turns. Supports terrain following by projecting positions onto the ground and orienting the vehicle according to the ground normal.

Waypoints are defined in a text file as x,y,z with one waypoint per line. When all waypoints have been reached, it loops back to the first one.

Inheritance diagram

The following diagram shows inheritance relationships for this type. Unresolved types are missing from the diagram.

Extends

Name	Type	Description
MovingMobilityBase	simple module	Abstract base module for mobility models.

Parameters

Name	Type	Default value	Description
displayStringTextFormat	string	"p: %p\nv: %v"	Determines the text that is written on top of the submodule, supports displaying pars, watches, and module-specific information
subjectModule	string	"^"	The module path that determines the subject module, the motion of which this mobility model describes. The default value is the parent module
coordinateSystemModule	string	""	The module path of the geographic coordinate system module
updateDisplayString	bool	true	Enables continuous update of the subject module's position by modifying its display string
constraintAreaMinX	double	-inf m	The minimum x position of the constraint area. It is unconstrained by default (negative infinity)
constraintAreaMinY	double	-inf m	The minimum y position of the constraint area. It is unconstrained by default (negative infinity)
constraintAreaMinZ	double	-inf m	The minimum z position of the constraint area. It is unconstrained by default (negative infinity)
constraintAreaMaxX	double	inf m	The maximum x position of the constraint area. It is unconstrained by default (positive infinity)
constraintAreaMaxY	double	inf m	The maximum y position of the constraint area. It is unconstrained by default (positive infinity)
constraintAreaMaxZ	double	inf m	The maximum z position of the constraint area. It is unconstrained by default (positive infinity)
updateInterval	double	0.1s	The simulation time interval used to regularly signal mobility state changes and update the display
faceForward	bool	true
waypointFile	string		Contains the waypoints as one waypoint x,y,z per line
waypointProximity	double		A waypoint is reached when it is less than waypointProximity meters away
speed	double
groundModule	string	"environment.ground"	Module path of the ground module
initialX	double	uniform(constraintAreaMinX, constraintAreaMaxX)
initialY	double	uniform(constraintAreaMinY, constraintAreaMaxY)
initialZ	double	nanToZero(uniform(constraintAreaMinZ, constraintAreaMaxZ))
initFromDisplayString	bool	true	Enables one-time initialization from the subject module's display string

Properties

Name	Value	Description
class	VehicleMobility
display	i=block/cogwheel

Signals

Name	Type	Unit	Description
mobilityStateChanged	inet::MobilityBase		It works in inet, but not in the extended module in another namespace

Source code

//
// Mobility model for ground vehicles that follow waypoints with realistic
// turning behavior. Reads waypoints from a file and moves the vehicle along
// them at a specified speed, calculating appropriate angular velocity for turns.
// Supports terrain following by projecting positions onto the ground and
// orienting the vehicle according to the ground normal.
//
// Waypoints are defined in a text file as x,y,z with one waypoint per line.
// When all waypoints have been reached, it loops back to the first one.
//
simple VehicleMobility extends MovingMobilityBase
{
    parameters:
        @class(VehicleMobility);
        string waypointFile; // Contains the waypoints as one waypoint x,y,z per line
        double waypointProximity @unit(m); // A waypoint is reached when it is less than waypointProximity meters away
        double speed @unit(mps);
        string groundModule = default("environment.ground"); // Module path of the ground module
        double initialX @unit(m) = default(uniform(constraintAreaMinX, constraintAreaMaxX));
        double initialY @unit(m) = default(uniform(constraintAreaMinY, constraintAreaMaxY));
        double initialZ @unit(m) = default(nanToZero(uniform(constraintAreaMinZ, constraintAreaMaxZ)));
        bool initFromDisplayString = default(true); // Enables one-time initialization from the subject module's display string
}

File: src/inet/mobility/single/VehicleMobility.ned