#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 |
Detailed Description
PID controller that controls the vehicle with front traction & steering from Twist commands
Definition at line 87 of file VehicleAckermann.h.
Constructor & Destructor Documentation
| DynamicsAckermann::ControllerTwistFrontSteerPID::ControllerTwistFrontSteerPID | ( | DynamicsAckermann & | veh | ) |
Definition at line 16 of file VehicleAckermann_ControllerTwistFrontSteerPID.cpp.
Member Function Documentation
| static const char* mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID::class_name | ( | ) | [inline, static] |
Directly set these values to tell the controller the desired setpoints
Definition at line 91 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.
- Returns:
- true if the controller supports this kind of commands, false otherwise
Reimplemented from mvsim::ControllerBaseInterface.
Definition at line 108 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.
Member Data Documentation
PID controller parameters.
Definition at line 104 of file VehicleAckermann.h.
Definition at line 104 of file VehicleAckermann.h.
Definition at line 104 of file VehicleAckermann.h.
Definition at line 116 of file VehicleAckermann.h.
Definition at line 117 of file VehicleAckermann.h.
double mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID::m_r2f_L [private] |
Definition at line 116 of file VehicleAckermann.h.
Maximum abs. value torque (for clamp) [Nm].
Definition at line 105 of file VehicleAckermann.h.
desired velocities (m/s) and (rad/s)
Definition at line 94 of file VehicleAckermann.h.
Definition at line 94 of file VehicleAckermann.h.
The documentation for this class was generated from the following files: