#include <ControllerBase.h>
Public Member Functions | |
| virtual void | clearLogs () |
| virtual void | control_step (const typename VEH_DYNAMICS::TControllerInput &ci, typename VEH_DYNAMICS::TControllerOutput &co)=0 |
| ControllerBaseTempl (VEH_DYNAMICS &veh) | |
| virtual void | load_config (const rapidxml::xml_node< char > &node) |
| virtual void | newLogSession () |
| virtual void | setLogRecording (bool recording) |
| virtual void | teleop_interface (const TeleopInput &in, TeleopOutput &out) override |
| virtual | ~ControllerBaseTempl () |
Protected Attributes | |
| VEH_DYNAMICS & | m_veh |
Detailed Description
template<class VEH_DYNAMICS>
class mvsim::ControllerBaseTempl< VEH_DYNAMICS >
Virtual base for controllers of vehicles of any type (template)
Definition at line 45 of file ControllerBase.h.
Constructor & Destructor Documentation
| mvsim::ControllerBaseTempl< VEH_DYNAMICS >::ControllerBaseTempl | ( | VEH_DYNAMICS & | veh | ) | [inline] |
Definition at line 48 of file ControllerBase.h.
| virtual mvsim::ControllerBaseTempl< VEH_DYNAMICS >::~ControllerBaseTempl | ( | ) | [inline, virtual] |
Definition at line 49 of file ControllerBase.h.
Member Function Documentation
| virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::clearLogs | ( | ) | [inline, virtual] |
Definition at line 105 of file ControllerBase.h.
| virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::control_step | ( | const typename VEH_DYNAMICS::TControllerInput & | ci, |
| typename VEH_DYNAMICS::TControllerOutput & | co | ||
| ) | [pure virtual] |
The core of the controller: will be called at each timestep before the numeric integration of dynamical eqs
| virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::load_config | ( | const rapidxml::xml_node< char > & | node | ) | [inline, virtual] |
Override to load class-specific options from the <controller> node
Reimplemented in mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID, mvsim::DynamicsAckermann::ControllerFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID, mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerRawForces, mvsim::DynamicsAckermann::ControllerRawForces, and mvsim::DynamicsDifferential::ControllerTwistPID.
Definition at line 98 of file ControllerBase.h.
| virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::newLogSession | ( | ) | [inline, virtual] |
Definition at line 106 of file ControllerBase.h.
| virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::setLogRecording | ( | bool | recording | ) | [inline, virtual] |
Definition at line 101 of file ControllerBase.h.
| virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::teleop_interface | ( | const TeleopInput & | in, |
| TeleopOutput & | out | ||
| ) | [inline, override, virtual] |
This is to handle basic need of all the controllers.
Reimplemented from mvsim::ControllerBaseInterface.
Reimplemented in mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID, mvsim::DynamicsAckermann::ControllerFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID, mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerRawForces, mvsim::DynamicsAckermann::ControllerRawForces, mvsim::DynamicsDifferential::ControllerTwistPID, and mvsim::DynamicsDifferential::ControllerRawForces.
Definition at line 51 of file ControllerBase.h.
Member Data Documentation
VEH_DYNAMICS& mvsim::ControllerBaseTempl< VEH_DYNAMICS >::m_veh [protected] |
Definition at line 108 of file ControllerBase.h.
The documentation for this class was generated from the following file: