ControlMatrix Namespace Reference

ART autonomous vehicle speed controller. More...

Classes
struct	accel_parms_t
Functions
static int	delta_row (float mph)
static int	speed_col (float mph)
Variables
static const accel_parms_t	accel_matrix [N_DELTAS][N_SPEEDS]
static const int	DELTA_0 = (N_DELTAS-1)/2
static const int	N_DELTAS = 13
static const int	N_SPEEDS = 6

---

Detailed Description

ART autonomous vehicle speed controller.

---

Function Documentation

static int ControlMatrix::delta_row

(

float

mph

)

[inline, static]

Definition at line 67 of file speed.cc.

static int ControlMatrix::speed_col

(

float

mph

)

[inline, static]

Definition at line 89 of file speed.cc.

---

Variable Documentation

const accel_parms_t ControlMatrix::accel_matrix[N_DELTAS][N_SPEEDS] [static]

Initial value:

    { 
       {{1000,-90}, {12,-30}, {12,-30}, {12,-40}, {12,-50}, {20,-70}},
       {{1000,-60}, { 6,-20}, { 6,-20}, { 6,-30}, { 6,-40}, {10,-55}},
       {{1000,-40}, { 4,-15}, { 4,-15}, { 4,-20}, { 4,-30}, { 7,-40}},
       { {500,-20}, { 3,-10}, { 3,-10}, { 3,-10}, { 3,-20}, { 5,-25}},
       { {200,-10},  {2,-5},   {2,-5},   {2,-5},   {2,-10},  {3,-10}},
       { {100,-5},   {1,-2},   {1,-2},   {1,-2},   {1,-5},   {1,-5} },
       { {100,0},    {0,0},    {0,0},    {0,0},    {0,0},    {0,0}  },
       {{-100,1},    {-2,2},   {-2,2},   {-2,2},   {-2,5},   {-2,5} },
       {{-200,2},    {-5,5},   {-5,5},   {-5,5},   {-5,10},  {-5,10}},
       {{-300,3},   {-10,10}, {-10,10}, {-10,10}, {-10,20}, {-10,25}},
       {{-500,4},   {-15,15}, {-15,15}, {-15,20}, {-15,30}, {-15,40}},
       {{-1000,5},  {-20,20}, {-20,20}, {-20,30}, {-20,40}, {-20,55}},
       {{-1000,6},  {-30,30}, {-30,30}, {-30,40}, {-30,50}, {-30,70}}
    }

Definition at line 46 of file speed.cc.

const int ControlMatrix::DELTA_0 = (N_DELTAS-1)/2 [static]

Definition at line 28 of file speed.cc.

const int ControlMatrix::N_DELTAS = 13 [static]

Definition at line 27 of file speed.cc.

const int ControlMatrix::N_SPEEDS = 6 [static]

Definition at line 29 of file speed.cc.