#include <VehicleAckermann_Drivetrain.h>

Inheritance diagram for mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID:

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

	ControllerTwistFrontSteerPID (DynamicsAckermannDrivetrain &veh)

virtual void	load_config (const rapidxml::xml_node< char > &node) override

virtual bool	setTwistCommand (const double vx, const double wz) override

virtual void	teleop_interface (const TeleopInput &in, TeleopOutput &out) override

Public Member Functions inherited from mvsim::ControllerBaseTempl< VEH_DYNAMICS >
virtual void	clearLogs ()

virtual void	control_step (const typename VEH_DYNAMICS::TControllerInput &ci, typename VEH_DYNAMICS::TControllerOutput &co)=0

	ControllerBaseTempl (VEH_DYNAMICS &veh)

virtual void	newLogSession ()

virtual void	setLogRecording (bool recording)

virtual	~ControllerBaseTempl ()

Static Public Member Functions
static const char *	class_name ()

Public Attributes
double	KD
	PID controller parameters. More...

double	KI

double	KP

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

double	setpoint_ang_speed
	desired velocities (m/s) and (rad/s) More...

double	setpoint_lin_speed

Private Attributes
double	m_dist_fWheels

PID_Controller	m_PID

double	m_r2f_L

Additional Inherited Members
Protected Attributes inherited from mvsim::ControllerBaseTempl< VEH_DYNAMICS >
VEH_DYNAMICS &	m_veh

Detailed Description

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

Definition at line 94 of file VehicleAckermann_Drivetrain.h.

Constructor & Destructor Documentation

DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::ControllerTwistFrontSteerPID ( DynamicsAckermannDrivetrain & veh )

Definition at line 17 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

Member Function Documentation

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

inlinestatic

Directly set these values to tell the controller the desired setpoints

Definition at line 98 of file VehicleAckermann_Drivetrain.h.

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

overridevirtual

Definition at line 35 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

void DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::load_config ( const rapidxml::xml_node< char > & node )

overridevirtual

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

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Definition at line 63 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

virtual bool mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::setTwistCommand	(	const double	vx,
		const double	wz
	)

inlineoverridevirtual

Accept a Twist command.

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

Reimplemented from mvsim::ControllerBaseInterface.

Definition at line 114 of file VehicleAckermann_Drivetrain.h.

void DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::teleop_interface	(	const TeleopInput &	in,
		TeleopOutput &	out
	)

overridevirtual

This is to handle basic need of all the controllers.

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Definition at line 80 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

Member Data Documentation

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::KD

PID controller parameters.

Definition at line 110 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::KI

Definition at line 110 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::KP

Definition at line 110 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::m_dist_fWheels

private

Definition at line 122 of file VehicleAckermann_Drivetrain.h.

PID_Controller mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::m_PID

private

Definition at line 123 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::m_r2f_L

private

Definition at line 122 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::max_torque

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

Definition at line 111 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::setpoint_ang_speed

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

Definition at line 101 of file VehicleAckermann_Drivetrain.h.

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::setpoint_lin_speed

Definition at line 101 of file VehicleAckermann_Drivetrain.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation