#include <VehicleAckermann.h>
Public Member Functions | |
virtual void | control_step (const DynamicsAckermann::TControllerInput &ci, DynamicsAckermann::TControllerOutput &co) |
ControllerTwistFrontSteerPID (DynamicsAckermann &veh) | |
virtual void | load_config (const rapidxml::xml_node< char > &node) |
virtual bool | setTwistCommand (const double vx, const double wz) |
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_ang_speed |
desired velocities (m/s) and (rad/s) | |
double | setpoint_lin_speed |
Private Attributes | |
double | m_dist_fWheels |
PID_Controller | m_PID [2] |
double | m_r2f_L |
PID controller that controls the vehicle with front traction & steering from Twist commands
Definition at line 99 of file VehicleAckermann.h.
DynamicsAckermann::ControllerTwistFrontSteerPID::ControllerTwistFrontSteerPID | ( | DynamicsAckermann & | veh | ) |
Definition at line 16 of file VehicleAckermann_ControllerTwistFrontSteerPID.cpp.
static const char* mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID::class_name | ( | ) | [inline, static] |
Directly set these values to tell the controller the desired setpoints
Definition at line 103 of file VehicleAckermann.h.
void DynamicsAckermann::ControllerTwistFrontSteerPID::control_step | ( | const DynamicsAckermann::TControllerInput & | ci, |
DynamicsAckermann::TControllerOutput & | co | ||
) | [virtual] |
Definition at line 35 of file VehicleAckermann_ControllerTwistFrontSteerPID.cpp.
void DynamicsAckermann::ControllerTwistFrontSteerPID::load_config | ( | const rapidxml::xml_node< char > & | node | ) | [virtual] |
Override to load class-specific options from the <controller> node
Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.
Definition at line 132 of file VehicleAckermann_ControllerTwistFrontSteerPID.cpp.
virtual bool mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID::setTwistCommand | ( | const double | vx, |
const double | wz | ||
) | [inline, virtual] |
Accept a Twist command.
Reimplemented from mvsim::ControllerBaseInterface.
Definition at line 120 of file VehicleAckermann.h.
void DynamicsAckermann::ControllerTwistFrontSteerPID::teleop_interface | ( | const TeleopInput & | in, |
TeleopOutput & | out | ||
) | [virtual] |
This is to handle basic need of all the controllers.
Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.
Definition at line 148 of file VehicleAckermann_ControllerTwistFrontSteerPID.cpp.
PID controller parameters.
Definition at line 116 of file VehicleAckermann.h.
Definition at line 116 of file VehicleAckermann.h.
Definition at line 116 of file VehicleAckermann.h.
Definition at line 128 of file VehicleAckermann.h.
Definition at line 129 of file VehicleAckermann.h.
double mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID::m_r2f_L [private] |
Definition at line 128 of file VehicleAckermann.h.
Maximum abs. value torque (for clamp) [Nm].
Definition at line 117 of file VehicleAckermann.h.
desired velocities (m/s) and (rad/s)
Definition at line 106 of file VehicleAckermann.h.
Definition at line 106 of file VehicleAckermann.h.