#include <UndercarriageCtrlGeom.h>

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 553 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 535 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 650 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 710 of file UndercarriageCtrlGeom.cpp.

Member Data Documentation

bool UndercarriageCtrlGeom::m_bEMStopActive [private]

Definition at line 67 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dCmdRotRobRadS [private]

Definition at line 99 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dCmdRotVelRadS [private]

Definition at line 100 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dCmdVelLatMMS [private]

Definition at line 98 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dCmdVelLongMMS [private]

Definition at line 97 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dDamp [private]

Definition at line 174 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dDDPhiMax [private]

Definition at line 174 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dDPhiMax [private]

Definition at line 174 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dRotRobRadS [private]

Definition at line 87 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dRotVelRadS [private]

Definition at line 88 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dSpring [private]

------- 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 174 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dVelLatMMS [private]

Definition at line 86 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dVelLongMMS [private]

Definition at line 85 of file UndercarriageCtrlGeom.h.

double UndercarriageCtrlGeom::m_dVirtM [private]

Definition at line 174 of file UndercarriageCtrlGeom.h.

int UndercarriageCtrlGeom::m_iNumberOfDrives [private]

Definition at line 69 of file UndercarriageCtrlGeom.h.

std::string UndercarriageCtrlGeom::m_sIniDirectory [private]

Definition at line 71 of file UndercarriageCtrlGeom.h.

ParamType UndercarriageCtrlGeom::m_UnderCarriagePrms [private]

Definition at line 162 of file UndercarriageCtrlGeom.h.

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

Definition at line 114 of file UndercarriageCtrlGeom.h.

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

Definition at line 94 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdAngGearSteerTarget1Rad [private]

Definition at line 118 of file UndercarriageCtrlGeom.h.

std::vector<double> UndercarriageCtrlGeom::m_vdAngGearSteerTarget2Rad [private]

Definition at line 120 of file UndercarriageCtrlGeom.h.

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

Definition at line 122 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 183 of file UndercarriageCtrlGeom.h.

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

Definition at line 93 of file UndercarriageCtrlGeom.h.

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

Definition at line 141 of file UndercarriageCtrlGeom.h.

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

Definition at line 140 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 138 of file UndercarriageCtrlGeom.h.

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

Definition at line 139 of file UndercarriageCtrlGeom.h.