#include <VehicleAckermann.h>
Public Member Functions | |
| virtual void | control_step (const DynamicsAckermann::TControllerInput &ci, DynamicsAckermann::TControllerOutput &co) override |
| ControllerFrontSteerPID (DynamicsAckermann &veh) | |
| virtual void | load_config (const rapidxml::xml_node< char > &node) 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 () |
| Public Member Functions inherited from mvsim::ControllerBaseInterface | |
| virtual bool | setTwistCommand (const double vx, const double wz) |
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_lin_speed |
| double | setpoint_steer_ang |
Private Attributes | |
| double | m_r2f_L |
| ControllerTwistFrontSteerPID | m_twist_control |
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 steer & linear speed commands
Definition at line 117 of file VehicleAckermann.h.
Constructor & Destructor Documentation
| DynamicsAckermann::ControllerFrontSteerPID::ControllerFrontSteerPID | ( | DynamicsAckermann & | veh | ) |
Definition at line 16 of file VehicleAckermann_ControllerFrontSteerPID.cpp.
Member Function Documentation
|
inlinestatic |
Directly set these values to tell the controller the desired setpoints
Definition at line 121 of file VehicleAckermann.h.
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overridevirtual |
(m/s) and steering angle (rad)
Definition at line 33 of file VehicleAckermann_ControllerFrontSteerPID.cpp.
|
overridevirtual |
Override to load class-specific options from the <controller> node
Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.
Definition at line 65 of file VehicleAckermann_ControllerFrontSteerPID.cpp.
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overridevirtual |
This is to handle basic need of all the controllers.
Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.
Definition at line 81 of file VehicleAckermann_ControllerFrontSteerPID.cpp.
Member Data Documentation
| double mvsim::DynamicsAckermann::ControllerFrontSteerPID::KD |
PID controller parameters.
Definition at line 134 of file VehicleAckermann.h.
| double mvsim::DynamicsAckermann::ControllerFrontSteerPID::KI |
Definition at line 134 of file VehicleAckermann.h.
| double mvsim::DynamicsAckermann::ControllerFrontSteerPID::KP |
Definition at line 134 of file VehicleAckermann.h.
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private |
Definition at line 138 of file VehicleAckermann.h.
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private |
Definition at line 137 of file VehicleAckermann.h.
| double mvsim::DynamicsAckermann::ControllerFrontSteerPID::max_torque |
Maximum abs. value torque (for clamp) [Nm].
Definition at line 135 of file VehicleAckermann.h.
| double mvsim::DynamicsAckermann::ControllerFrontSteerPID::setpoint_lin_speed |
Definition at line 124 of file VehicleAckermann.h.
| double mvsim::DynamicsAckermann::ControllerFrontSteerPID::setpoint_steer_ang |
desired velocities
Definition at line 124 of file VehicleAckermann.h.
The documentation for this class was generated from the following files: