UndercarriageCtrlGeom Class Reference

#include <UndercarriageCtrlGeom.h>

List of all members.

Classes

struct  ParamType

Public Member Functions

void GetActualPltfVelocity (double &dDeltaLongMM, double &dDeltaLatMM, double &dDeltaRotRobRad, double &dDeltaRotVelRad, double &dVelLongMMS, double &dVelLatMMS, double &dRotRobRadS, double &dRotVelRadS)
void GetNewCtrlStateSteerDriveSetValues (std::vector< double > &vdVelGearDriveRadS, std::vector< double > &vdVelGearSteerRadS, std::vector< double > &vdAngGearSteerRad, double &dVelLongMMS, double &dVelLatMMS, double &dRotRobRadS, double &dRotVelRadS)
void GetSteerDriveSetValues (std::vector< double > &vdVelGearDriveRadS, std::vector< double > &vdAngGearSteerRad)
void InitUndercarriageCtrl (void)
void operator= (const UndercarriageCtrlGeom &GeomCtrl)
void SetActualWheelValues (std::vector< double > vdVelGearDriveRadS, std::vector< double > vdVelGearSteerRadS, std::vector< double > vdDltAngGearDriveRad, std::vector< double > vdAngGearSteerRad)
void SetDesiredPltfVelocity (double dCmdVelLongMMS, double dCmdVelLatMMS, double dCmdRotRobRadS, double dCmdRotVelRadS)
void setEMStopActive (bool bEMStopActive)
 UndercarriageCtrlGeom (std::string sIniDirectory)
 ~UndercarriageCtrlGeom (void)

Private Member Functions

void CalcControlStep (void)
void CalcDirect (void)
void CalcExWheelPos (void)
void CalcInverse (void)

Private Attributes

bool m_bEMStopActive
double m_dCmdRotRobRadS
double m_dCmdRotVelRadS
double m_dCmdVelLatMMS
double m_dCmdVelLongMMS
double m_dDamp
double m_dDDPhiMax
double m_dDPhiMax
double m_dRotRobRadS
double m_dRotVelRadS
double m_dSpring
double m_dVelLatMMS
double m_dVelLongMMS
double m_dVirtM
int m_iNumberOfDrives
std::string m_sIniDirectory
ParamType m_UnderCarriagePrms
std::vector< double > m_vdAngGearSteerCmdRad
std::vector< double > m_vdAngGearSteerRad
std::vector< double > m_vdAngGearSteerTarget1Rad
std::vector< double > m_vdAngGearSteerTarget2Rad
std::vector< double > m_vdAngGearSteerTargetRad
std::vector< std::vector
< double > > 
m_vdCtrlVal
std::vector< double > m_vdDltAngGearDriveRad
std::vector< double > m_vdExWheelAngRad
std::vector< double > m_vdExWheelDistMM
std::vector< double > m_vdExWheelXPosMM
std::vector< double > m_vdExWheelYPosMM
std::vector< double > m_vdVelGearDriveCmdRadS
std::vector< double > m_vdVelGearDriveRadS
std::vector< double > m_vdVelGearDriveTarget1RadS
std::vector< double > m_vdVelGearDriveTarget2RadS
std::vector< double > m_vdVelGearDriveTargetRadS
std::vector< double > m_vdVelGearSteerCmdRadS
std::vector< double > m_vdVelGearSteerRadS
std::vector< double > m_vdWheelAngRad
std::vector< double > m_vdWheelDistMM
std::vector< double > m_vdWheelXPosMM
std::vector< double > m_vdWheelYPosMM

Detailed Description

Definition at line 63 of file UndercarriageCtrlGeom.h.


Constructor & Destructor Documentation

UndercarriageCtrlGeom::UndercarriageCtrlGeom ( std::string  sIniDirectory  ) 

Definition at line 57 of file UndercarriageCtrlGeom.cpp.

UndercarriageCtrlGeom::~UndercarriageCtrlGeom ( void   ) 

Definition at line 139 of file UndercarriageCtrlGeom.cpp.


Member Function Documentation

void UndercarriageCtrlGeom::CalcControlStep ( void   )  [private]

Definition at line 550 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::CalcDirect ( void   )  [private]

Definition at line 457 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::CalcExWheelPos ( void   )  [private]

Definition at line 532 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::CalcInverse ( void   )  [private]

Definition at line 412 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::GetActualPltfVelocity ( double &  dDeltaLongMM,
double &  dDeltaLatMM,
double &  dDeltaRotRobRad,
double &  dDeltaRotVelRad,
double &  dVelLongMMS,
double &  dVelLatMMS,
double &  dRotRobRadS,
double &  dRotVelRadS 
)

Definition at line 394 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::GetNewCtrlStateSteerDriveSetValues ( std::vector< double > &  vdVelGearDriveRadS,
std::vector< double > &  vdVelGearSteerRadS,
std::vector< double > &  vdAngGearSteerRad,
double &  dVelLongMMS,
double &  dVelLatMMS,
double &  dRotRobRadS,
double &  dRotVelRadS 
)

Definition at line 364 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::GetSteerDriveSetValues ( std::vector< double > &  vdVelGearDriveRadS,
std::vector< double > &  vdAngGearSteerRad 
)

Definition at line 353 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::InitUndercarriageCtrl ( void   ) 

Definition at line 156 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::operator= ( const UndercarriageCtrlGeom GeomCtrl  ) 

Definition at line 647 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::SetActualWheelValues ( std::vector< double >  vdVelGearDriveRadS,
std::vector< double >  vdVelGearSteerRadS,
std::vector< double >  vdDltAngGearDriveRad,
std::vector< double >  vdAngGearSteerRad 
)

Definition at line 336 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::SetDesiredPltfVelocity ( double  dCmdVelLongMMS,
double  dCmdVelLatMMS,
double  dCmdRotRobRadS,
double  dCmdRotVelRadS 
)

Definition at line 231 of file UndercarriageCtrlGeom.cpp.

void UndercarriageCtrlGeom::setEMStopActive ( bool  bEMStopActive  ) 

Definition at line 707 of file UndercarriageCtrlGeom.cpp.


Member Data Documentation

Definition at line 65 of file UndercarriageCtrlGeom.h.

Definition at line 97 of file UndercarriageCtrlGeom.h.

Definition at line 98 of file UndercarriageCtrlGeom.h.

Definition at line 96 of file UndercarriageCtrlGeom.h.

Definition at line 95 of file UndercarriageCtrlGeom.h.

Definition at line 172 of file UndercarriageCtrlGeom.h.

Definition at line 172 of file UndercarriageCtrlGeom.h.

Definition at line 172 of file UndercarriageCtrlGeom.h.

Definition at line 85 of file UndercarriageCtrlGeom.h.

Definition at line 86 of file UndercarriageCtrlGeom.h.

------- Position Controller Steer Wheels ------- Impedance-Ctrlr Prms -> model Stiffness via Spring-Damper-Modell -> only oriented at impedance-ctrl (no forces commanded) m_dSpring Spring-constant (elasticity) m_dDamp Damping coefficient (also prop. for Velocity Feedforward) m_dVirtM Virtual Mass of Spring-Damper System m_dDPhiMax maximum angular velocity (cut-off) m_dDDPhiMax maximum angular acceleration (cut-off)

Definition at line 172 of file UndercarriageCtrlGeom.h.

Definition at line 84 of file UndercarriageCtrlGeom.h.

Definition at line 83 of file UndercarriageCtrlGeom.h.

Definition at line 172 of file UndercarriageCtrlGeom.h.

Definition at line 67 of file UndercarriageCtrlGeom.h.

Definition at line 69 of file UndercarriageCtrlGeom.h.

Definition at line 160 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdAngGearSteerCmdRad [private]

Definition at line 112 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdAngGearSteerRad [private]

Definition at line 92 of file UndercarriageCtrlGeom.h.

Definition at line 116 of file UndercarriageCtrlGeom.h.

Definition at line 118 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdAngGearSteerTargetRad [private]

Definition at line 120 of file UndercarriageCtrlGeom.h.

std::vector< std::vector<double> > UndercarriageCtrlGeom::m_vdCtrlVal [private]

storage for internal controller states m_vdCtrlVal is Vector with stored Controller-values of all wheels m_vdCtrlVal[iWheelNr][iVariableNr] iWheelNr: Index of Wheel Number (0..3) iVariableNr: 0: previous Commanded deltaPhi e(k-1) 1: pre-previous Commanded deltaPhi e(k-2) 2: previous Commanded Velocity u(k-1)

Definition at line 181 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdDltAngGearDriveRad [private]

Definition at line 91 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdExWheelAngRad [private]

Definition at line 139 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdExWheelDistMM [private]

Definition at line 138 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdExWheelXPosMM [private]

Exact Position of the Wheels' itself in cartesian (X/Y) and polar (Dist/Ang) coordinates relative to robot coordinate System

Definition at line 136 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdExWheelYPosMM [private]

Definition at line 137 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdVelGearDriveCmdRadS [private]

Definition at line 110 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdVelGearDriveRadS [private]

Definition at line 89 of file UndercarriageCtrlGeom.h.

Definition at line 117 of file UndercarriageCtrlGeom.h.

Definition at line 119 of file UndercarriageCtrlGeom.h.

Definition at line 121 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdVelGearSteerCmdRadS [private]

Definition at line 111 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdVelGearSteerRadS [private]

Definition at line 90 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdWheelAngRad [private]

Definition at line 130 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdWheelDistMM [private]

Definition at line 129 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdWheelXPosMM [private]

Position of the Wheels' Steering Axis' in cartesian (X/Y) and polar (Dist/Ang) coordinates relative to robot coordinate System

Definition at line 127 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdWheelYPosMM [private]

Definition at line 128 of file UndercarriageCtrlGeom.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables


cob_undercarriage_ctrl
Author(s): Christian Connette
autogenerated on Fri Jan 11 09:41:46 2013