#include <VehicleDifferential.h>
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.
| void DynamicsDifferential::ControllerTwistPID::control_step | ( | const DynamicsDifferential::TControllerInput & | ci, |
| DynamicsDifferential::TControllerOutput & | co | ||
| ) | [virtual] |
Definition at line 33 of file VehicleDifferential_ControllerTwistPID.cpp.
| void DynamicsDifferential::ControllerTwistPID::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 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.
| void DynamicsDifferential::ControllerTwistPID::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 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.
double mvsim::DynamicsDifferential::ControllerTwistPID::m_distWheels [private] |
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: