#include <VehicleAckermann_Drivetrain.h>
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 130 of file VehicleAckermann_Drivetrain.h.
Constructor & Destructor Documentation
| DynamicsAckermannDrivetrain::ControllerFrontSteerPID::ControllerFrontSteerPID | ( | DynamicsAckermannDrivetrain & | veh | ) |
Definition at line 16 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.
Member Function Documentation
| static const char* mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::class_name | ( | ) | [inline, static] |
Directly set these values to tell the controller the desired setpoints
Definition at line 134 of file VehicleAckermann_Drivetrain.h.
| void DynamicsAckermannDrivetrain::ControllerFrontSteerPID::control_step | ( | const DynamicsAckermannDrivetrain::TControllerInput & | ci, |
| DynamicsAckermannDrivetrain::TControllerOutput & | co | ||
| ) | [virtual] |
(m/s) and steering angle (rad)
Definition at line 33 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.
| void DynamicsAckermannDrivetrain::ControllerFrontSteerPID::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 65 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.
| void DynamicsAckermannDrivetrain::ControllerFrontSteerPID::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 81 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.
Member Data Documentation
PID controller parameters.
Definition at line 149 of file VehicleAckermann_Drivetrain.h.
Definition at line 149 of file VehicleAckermann_Drivetrain.h.
Definition at line 149 of file VehicleAckermann_Drivetrain.h.
double mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::m_r2f_L [private] |
Definition at line 153 of file VehicleAckermann_Drivetrain.h.
ControllerTwistFrontSteerPID mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::m_twist_control [private] |
Definition at line 152 of file VehicleAckermann_Drivetrain.h.
Maximum abs. value torque (for clamp) [Nm].
Definition at line 150 of file VehicleAckermann_Drivetrain.h.
Definition at line 137 of file VehicleAckermann_Drivetrain.h.
desired velocities
Definition at line 137 of file VehicleAckermann_Drivetrain.h.
The documentation for this class was generated from the following files: