#include <VehicleDifferential.h>

Inheritance diagram for mvsim::DynamicsDifferential::ControllerRawForces:

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

	ControllerRawForces (DynamicsDifferential &veh)

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	setpoint_teleop_steps = 5e-2

double	setpoint_wheel_torque_l = 0

double	setpoint_wheel_torque_r = 0

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

Definition at line 86 of file VehicleDifferential.h.

Constructor & Destructor Documentation

◆ ControllerRawForces()

mvsim::DynamicsDifferential::ControllerRawForces::ControllerRawForces ( DynamicsDifferential & veh )

inline

Definition at line 89 of file VehicleDifferential.h.

Member Function Documentation

◆ class_name()

static const char* mvsim::DynamicsDifferential::ControllerRawForces::class_name ( )

inlinestatic

Directly set these values to tell the controller the desired setpoints

Definition at line 91 of file VehicleDifferential.h.

◆ control_step()

void DynamicsDifferential::ControllerRawForces::control_step	(	const DynamicsDifferential::TControllerInput &	ci,
		DynamicsDifferential::TControllerOutput &	co
	)

overridevirtual

Definition at line 18 of file VehicleDifferential_ControllerRaw.cpp.

◆ teleop_interface()

void DynamicsDifferential::ControllerRawForces::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 26 of file VehicleDifferential_ControllerRaw.cpp.

Member Data Documentation

◆ setpoint_teleop_steps

double mvsim::DynamicsDifferential::ControllerRawForces::setpoint_teleop_steps = 5e-2

Definition at line 97 of file VehicleDifferential.h.

◆ setpoint_wheel_torque_l

double mvsim::DynamicsDifferential::ControllerRawForces::setpoint_wheel_torque_l = 0

Definition at line 95 of file VehicleDifferential.h.

◆ setpoint_wheel_torque_r

double mvsim::DynamicsDifferential::ControllerRawForces::setpoint_wheel_torque_r = 0