#include <VehicleDifferential.h>

Inheritance diagram for mvsim::DynamicsDifferential::ControllerTwistIdeal:

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

	ControllerTwistIdeal (DynamicsDifferential &veh)

void	on_post_step (const TSimulContext &context) override

mrpt::math::TTwist2D	setpoint () const

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 ()

Private Attributes
double	distWheels_ = 0

mrpt::math::TTwist2D	setpoint_ {0, 0, 0}
	"vx" and "omega" only More...

std::mutex	setpointMtx_

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

Ideal ("fake") controller, which perfectly and instantaneously sets the vehicle twist setpoint as vehicle twist.

Definition at line 156 of file VehicleDifferential.h.

Constructor & Destructor Documentation

◆ ControllerTwistIdeal()

DynamicsDifferential::ControllerTwistIdeal::ControllerTwistIdeal ( DynamicsDifferential & veh )

Definition at line 14 of file VehicleDifferential_ControllerTwistIdeal.cpp.

Member Function Documentation

◆ class_name()

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

inlinestatic

Definition at line 160 of file VehicleDifferential.h.

◆ control_step()

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

override

Definition at line 25 of file VehicleDifferential_ControllerTwistIdeal.cpp.

◆ on_post_step()

void DynamicsDifferential::ControllerTwistIdeal::on_post_step ( const TSimulContext & context )

override

Definition at line 33 of file VehicleDifferential_ControllerTwistIdeal.cpp.

◆ setpoint()

mrpt::math::TTwist2D mvsim::DynamicsDifferential::ControllerTwistIdeal::setpoint ( ) const

inline

Returns the current setpoint of the controller

Definition at line 180 of file VehicleDifferential.h.

◆ setTwistCommand()

bool mvsim::DynamicsDifferential::ControllerTwistIdeal::setTwistCommand ( const mrpt::math::TTwist2D & t )

inlineoverride

Definition at line 171 of file VehicleDifferential.h.

◆ teleop_interface()

void DynamicsDifferential::ControllerTwistIdeal::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 41 of file VehicleDifferential_ControllerTwistIdeal.cpp.

Member Data Documentation

◆ distWheels_

double mvsim::DynamicsDifferential::ControllerTwistIdeal::distWheels_ = 0

private

Definition at line 189 of file VehicleDifferential.h.

◆ setpoint_

mrpt::math::TTwist2D mvsim::DynamicsDifferential::ControllerTwistIdeal::setpoint_ {0, 0, 0}

private

"vx" and "omega" only

Definition at line 190 of file VehicleDifferential.h.

◆ setpointMtx_

std::mutex mvsim::DynamicsDifferential::ControllerTwistIdeal::setpointMtx_

mutableprivate

Definition at line 191 of file VehicleDifferential.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members