mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID Class Reference

#include <VehicleAckermann_Drivetrain.h>

Inheritance diagram for mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID:

List of all members.

Public Member Functions
virtual void	control_step (const DynamicsAckermannDrivetrain::TControllerInput &ci, DynamicsAckermannDrivetrain::TControllerOutput &co)
	ControllerTwistFrontSteerPID (DynamicsAckermannDrivetrain &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
double	m_r2f_L

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Detailed Description

PID controller that controls the vehicle with front traction & steering from Twist commands

Definition at line 99 of file VehicleAckermann_Drivetrain.h.

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Constructor & Destructor Documentation

DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::ControllerTwistFrontSteerPID

(

DynamicsAckermannDrivetrain &

veh

)

Definition at line 17 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

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Member Function Documentation

static const char* mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::class_name

(

)

[inline, static]

Directly set these values to tell the controller the desired setpoints

Definition at line 103 of file VehicleAckermann_Drivetrain.h.

void DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::control_step	(	const DynamicsAckermannDrivetrain::TControllerInput &	ci,
		DynamicsAckermannDrivetrain::TControllerOutput &	co
	)		[virtual]

Definition at line 35 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

void DynamicsAckermannDrivetrain::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 64 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

virtual bool mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::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 118 of file VehicleAckermann_Drivetrain.h.

void DynamicsAckermannDrivetrain::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 81 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

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Member Data Documentation

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::KD

PID controller parameters.

Definition at line 114 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::KI

Definition at line 114 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::KP

Definition at line 114 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::m_dist_fWheels [private]

Definition at line 126 of file VehicleAckermann_Drivetrain.h.

PID_Controller mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::m_PID [private]

Definition at line 127 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::m_r2f_L [private]

Definition at line 126 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::max_torque

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

Definition at line 115 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::setpoint_ang_speed

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

Definition at line 106 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::setpoint_lin_speed

Definition at line 106 of file VehicleAckermann_Drivetrain.h.

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

• VehicleAckermann_Drivetrain.h
• Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp