#include <ControllerBase.h>
Public Types | |
| using | Ptr = std::shared_ptr< 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 ([[maybe_unused]] const rapidxml::xml_node< char > &node) |
| virtual void | newLogSession () |
| virtual void | on_post_step ([[maybe_unused]] const TSimulContext &context) |
| 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 ([[maybe_unused]] const mrpt::math::TTwist2D &t) |
| virtual void | teleop_interface ([[maybe_unused]] const TeleopInput &in, [[maybe_unused]] TeleopOutput &out) |
Protected Attributes | |
| VEH_DYNAMICS & | 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 54 of file ControllerBase.h.
Member Typedef Documentation
◆ Ptr
| using mvsim::ControllerBaseTempl< VEH_DYNAMICS >::Ptr = std::shared_ptr<ControllerBaseTempl<VEH_DYNAMICS> > |
Definition at line 57 of file ControllerBase.h.
Constructor & Destructor Documentation
◆ ControllerBaseTempl()
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inline |
Definition at line 59 of file ControllerBase.h.
◆ ~ControllerBaseTempl()
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inlinevirtual |
Definition at line 60 of file ControllerBase.h.
Member Function Documentation
◆ clearLogs()
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inlinevirtual |
Definition at line 120 of file ControllerBase.h.
◆ control_step()
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pure virtual |
The core of the controller: will be called at each timestep before the numeric integration of dynamical eqs
◆ load_config()
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inlinevirtual |
Override to load class-specific options from the <controller> node
Definition at line 111 of file ControllerBase.h.
◆ newLogSession()
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inlinevirtual |
Definition at line 121 of file ControllerBase.h.
◆ on_post_step()
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inlinevirtual |
Definition at line 108 of file ControllerBase.h.
◆ setLogRecording()
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inlinevirtual |
Definition at line 116 of file ControllerBase.h.
◆ teleop_interface()
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inlineoverridevirtual |
This is to handle basic need of all the controllers.
Reimplemented in mvsim::DynamicsDifferential::ControllerTwistIdeal, mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID, mvsim::DynamicsAckermann::ControllerFrontSteerPID, mvsim::DynamicsDifferential::ControllerTwistPID, mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID, mvsim::DynamicsDifferential::ControllerRawForces, mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerRawForces, and mvsim::DynamicsAckermann::ControllerRawForces.
Definition at line 62 of file ControllerBase.h.
Member Data Documentation
◆ veh_
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protected |
Definition at line 124 of file ControllerBase.h.
The documentation for this class was generated from the following file: