mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID Class Reference

#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 mrpt::math::TTwist2D &t) 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	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	~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)

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	dist_fWheels_
PID_Controller	PID_
double	r2f_L_

Additional Inherited Members
Public Types inherited from mvsim::ControllerBaseTempl< VEH_DYNAMICS >
using	Ptr = std::shared_ptr< ControllerBaseTempl< VEH_DYNAMICS > >
Protected Attributes inherited from mvsim::ControllerBaseTempl< VEH_DYNAMICS >
VEH_DYNAMICS &	veh_

Detailed Description

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

Definition at line 93 of file VehicleAckermann_Drivetrain.h.

Constructor & Destructor Documentation

ControllerTwistFrontSteerPID()

DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::ControllerTwistFrontSteerPID

(

DynamicsAckermannDrivetrain &

veh

)

Definition at line 18 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

Member Function Documentation

class_name()

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

inlinestatic

Directly set these values to tell the controller the desired setpoints

Definition at line 97 of file VehicleAckermann_Drivetrain.h.

control_step()

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

overridevirtual

Definition at line 36 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

load_config()

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

overridevirtual

Definition at line 64 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

setTwistCommand()

virtual bool mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::setTwistCommand ( const mrpt::math::TTwist2D &  t )

inlineoverridevirtual

Definition at line 113 of file VehicleAckermann_Drivetrain.h.

teleop_interface()

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 81 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

Member Data Documentation

dist_fWheels_

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::dist_fWheels_

private

Definition at line 121 of file VehicleAckermann_Drivetrain.h.

KD

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::KD

PID controller parameters.

Definition at line 109 of file VehicleAckermann_Drivetrain.h.

KI

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::KI

Definition at line 109 of file VehicleAckermann_Drivetrain.h.

KP

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::KP

Definition at line 109 of file VehicleAckermann_Drivetrain.h.

max_torque

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::max_torque

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

Definition at line 110 of file VehicleAckermann_Drivetrain.h.

PID_

PID_Controller mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::PID_

private

Definition at line 122 of file VehicleAckermann_Drivetrain.h.

r2f_L_

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::r2f_L_

private

Definition at line 121 of file VehicleAckermann_Drivetrain.h.

setpoint_ang_speed

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::setpoint_ang_speed

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

Definition at line 100 of file VehicleAckermann_Drivetrain.h.

setpoint_lin_speed

double mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::setpoint_lin_speed

Definition at line 100 of file VehicleAckermann_Drivetrain.h.

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

• VehicleAckermann_Drivetrain.h
• Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp