mvsim::ControllerBaseTempl< VEH_DYNAMICS > Class Template Reference

#include <ControllerBase.h>

Inheritance diagram for mvsim::ControllerBaseTempl< VEH_DYNAMICS >:

Public Member Functions
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	load_config (const rapidxml::xml_node< char > &node)
virtual void	newLogSession ()
virtual void	setLogRecording (bool recording)
virtual void	teleop_interface (const TeleopInput &in, TeleopOutput &out) override
virtual	~ControllerBaseTempl ()
Public Member Functions inherited from mvsim::ControllerBaseInterface
virtual bool	setTwistCommand (const double vx, const double wz)

Protected Attributes
VEH_DYNAMICS &	m_veh

Detailed Description

template<class VEH_DYNAMICS>
class mvsim::ControllerBaseTempl< VEH_DYNAMICS >

Virtual base for controllers of vehicles of any type (template)

Definition at line 45 of file ControllerBase.h.

Constructor & Destructor Documentation

template<class VEH_DYNAMICS >

mvsim::ControllerBaseTempl< VEH_DYNAMICS >::ControllerBaseTempl ( VEH_DYNAMICS &  veh )

inline

Definition at line 48 of file ControllerBase.h.

template<class VEH_DYNAMICS >

virtual mvsim::ControllerBaseTempl< VEH_DYNAMICS >::~ControllerBaseTempl ( )

inlinevirtual

Definition at line 49 of file ControllerBase.h.

Member Function Documentation

template<class VEH_DYNAMICS >

virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::clearLogs ( )

inlinevirtual

Definition at line 105 of file ControllerBase.h.

template<class VEH_DYNAMICS >

virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::control_step ( const typename VEH_DYNAMICS::TControllerInput &  ci, typename VEH_DYNAMICS::TControllerOutput &  co  )

pure virtual

The core of the controller: will be called at each timestep before the numeric integration of dynamical eqs

template<class VEH_DYNAMICS >

virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::load_config ( const rapidxml::xml_node< char > &  node )

inlinevirtual

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

Reimplemented in mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID, mvsim::DynamicsAckermann::ControllerFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID, mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerRawForces, mvsim::DynamicsAckermann::ControllerRawForces, and mvsim::DynamicsDifferential::ControllerTwistPID.

Definition at line 98 of file ControllerBase.h.

template<class VEH_DYNAMICS >

virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::newLogSession ( )

inlinevirtual

Definition at line 106 of file ControllerBase.h.

template<class VEH_DYNAMICS >

virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::setLogRecording ( bool  recording )

inlinevirtual

Definition at line 101 of file ControllerBase.h.

template<class VEH_DYNAMICS >

virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::teleop_interface ( const TeleopInput &  in, TeleopOutput &  out  )

inlineoverridevirtual

This is to handle basic need of all the controllers.

Reimplemented from mvsim::ControllerBaseInterface.

Reimplemented in mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID, mvsim::DynamicsAckermann::ControllerFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID, mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerRawForces, mvsim::DynamicsAckermann::ControllerRawForces, mvsim::DynamicsDifferential::ControllerTwistPID, and mvsim::DynamicsDifferential::ControllerRawForces.

Definition at line 51 of file ControllerBase.h.

Member Data Documentation

template<class VEH_DYNAMICS >

VEH_DYNAMICS& mvsim::ControllerBaseTempl< VEH_DYNAMICS >::m_veh

protected

Definition at line 108 of file ControllerBase.h.

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

• ControllerBase.h