Public Member Functions | Static Public Member Functions | Public Attributes | Private Attributes
mvsim::DynamicsDifferential::ControllerTwistPID Class Reference

#include <VehicleDifferential.h>

Inheritance diagram for mvsim::DynamicsDifferential::ControllerTwistPID:
Inheritance graph
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List of all members.

Public Member Functions

virtual void control_step (const DynamicsDifferential::TControllerInput &ci, DynamicsDifferential::TControllerOutput &co)
 ControllerTwistPID (DynamicsDifferential &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_distWheels
PID_Controller m_PID [2]

Detailed Description

PID controller that controls the vehicle twist: linear & angular velocities

Definition at line 74 of file VehicleDifferential.h.


Constructor & Destructor Documentation

Definition at line 16 of file VehicleDifferential_ControllerTwistPID.cpp.


Member Function Documentation

static const char* mvsim::DynamicsDifferential::ControllerTwistPID::class_name ( ) [inline, static]

Directly set these values to tell the controller the desired setpoints

Definition at line 78 of file VehicleDifferential.h.

Definition at line 33 of file VehicleDifferential_ControllerTwistPID.cpp.

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

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Definition at line 68 of file VehicleDifferential_ControllerTwistPID.cpp.

virtual bool mvsim::DynamicsDifferential::ControllerTwistPID::setTwistCommand ( const double  vx,
const double  wz 
) [inline, virtual]

Accept a Twist command.

Returns:
true if the controller supports this kind of commands, false otherwise

Reimplemented from mvsim::ControllerBaseInterface.

Definition at line 95 of file VehicleDifferential.h.

This is to handle basic need of all the controllers.

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Definition at line 84 of file VehicleDifferential_ControllerTwistPID.cpp.


Member Data Documentation

PID controller parameters.

Definition at line 92 of file VehicleDifferential.h.

Definition at line 92 of file VehicleDifferential.h.

Definition at line 92 of file VehicleDifferential.h.

Definition at line 103 of file VehicleDifferential.h.

Definition at line 104 of file VehicleDifferential.h.

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

Definition at line 93 of file VehicleDifferential.h.

desired velocities (m/s) and (rad/s)

Definition at line 81 of file VehicleDifferential.h.

Definition at line 81 of file VehicleDifferential.h.


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


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