Public Member Functions | Static Public Member Functions | Public Attributes | Private Attributes
mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID Class Reference

#include <VehicleAckermann_Drivetrain.h>

Inheritance diagram for mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID:
Inheritance graph
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List of all members.

Public Member Functions

virtual void control_step (const DynamicsAckermannDrivetrain::TControllerInput &ci, DynamicsAckermannDrivetrain::TControllerOutput &co)
 ControllerFrontSteerPID (DynamicsAckermannDrivetrain &veh)
virtual void load_config (const rapidxml::xml_node< char > &node)
virtual void teleop_interface (const TeleopInput &in, TeleopOutput &out)

Static Public Member Functions

static const char * class_name ()

Public Attributes

double KD
 PID controller parameters.
double KI
double KP
double max_torque
 Maximum abs. value torque (for clamp) [Nm].
double setpoint_lin_speed
double setpoint_steer_ang

Private Attributes

double m_r2f_L
ControllerTwistFrontSteerPID m_twist_control

Detailed Description

Definition at line 142 of file VehicleAckermann_Drivetrain.h.


Constructor & Destructor Documentation


Member Function Documentation

Directly set these values to tell the controller the desired setpoints

Definition at line 146 of file VehicleAckermann_Drivetrain.h.

(m/s) and steering angle (rad)

Definition at line 33 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.

Override to load class-specific options from the <controller> node

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Definition at line 65 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.

This is to handle basic need of all the controllers.

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Definition at line 81 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.


Member Data Documentation

PID controller parameters.

Definition at line 161 of file VehicleAckermann_Drivetrain.h.

Definition at line 161 of file VehicleAckermann_Drivetrain.h.

Definition at line 161 of file VehicleAckermann_Drivetrain.h.

Definition at line 165 of file VehicleAckermann_Drivetrain.h.

Definition at line 164 of file VehicleAckermann_Drivetrain.h.

Maximum abs. value torque (for clamp) [Nm].

Definition at line 162 of file VehicleAckermann_Drivetrain.h.

Definition at line 149 of file VehicleAckermann_Drivetrain.h.

desired velocities

Definition at line 149 of file VehicleAckermann_Drivetrain.h.


The documentation for this class was generated from the following files:


mvsim
Author(s):
autogenerated on Thu Jun 6 2019 22:08:35