mvsim::DynamicsDifferential::ControllerTwistPID Class Reference

#include <VehicleDifferential.h>

Inheritance diagram for mvsim::DynamicsDifferential::ControllerTwistPID:

Public Member Functions
virtual void	control_step (const DynamicsDifferential::TControllerInput &ci, DynamicsDifferential::TControllerOutput &co) override
	ControllerTwistPID (DynamicsDifferential &veh)
virtual void	load_config (const rapidxml::xml_node< char > &node) 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 ()

Public Attributes
double	KD = 0
double	KI = 0
double	KP = 10
	PID controller parameters. More...
double	max_torque = 100
	Maximum abs. value torque (for clamp) [Nm]. More...

Private Attributes
double	distWheels_ = 0
std::array< PID_Controller, 2 >	PIDs_
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

PID controller that controls the vehicle twist: linear & angular velocities

Definition at line 108 of file VehicleDifferential.h.

Constructor & Destructor Documentation

ControllerTwistPID()

DynamicsDifferential::ControllerTwistPID::ControllerTwistPID

(

DynamicsDifferential &

veh

)

Definition at line 17 of file VehicleDifferential_ControllerTwistPID.cpp.

Member Function Documentation

class_name()

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

inlinestatic

Definition at line 112 of file VehicleDifferential.h.

control_step()

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

overridevirtual

Definition at line 29 of file VehicleDifferential_ControllerTwistPID.cpp.

load_config()

void DynamicsDifferential::ControllerTwistPID::load_config ( const rapidxml::xml_node< char > &  node )

overridevirtual

Definition at line 78 of file VehicleDifferential_ControllerTwistPID.cpp.

setpoint()

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

inline

Returns the current setpoint of the controller

Definition at line 138 of file VehicleDifferential.h.

setTwistCommand()

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

inlineoverride

Definition at line 129 of file VehicleDifferential.h.

teleop_interface()

void DynamicsDifferential::ControllerTwistPID::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 94 of file VehicleDifferential_ControllerTwistPID.cpp.

Member Data Documentation

distWheels_

double mvsim::DynamicsDifferential::ControllerTwistPID::distWheels_ = 0

private

Definition at line 147 of file VehicleDifferential.h.

KD

double mvsim::DynamicsDifferential::ControllerTwistPID::KD = 0

Definition at line 123 of file VehicleDifferential.h.

KI

double mvsim::DynamicsDifferential::ControllerTwistPID::KI = 0

Definition at line 123 of file VehicleDifferential.h.

KP

double mvsim::DynamicsDifferential::ControllerTwistPID::KP = 10

PID controller parameters.

Definition at line 123 of file VehicleDifferential.h.

max_torque

double mvsim::DynamicsDifferential::ControllerTwistPID::max_torque = 100

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

Definition at line 126 of file VehicleDifferential.h.

PIDs_

std::array<PID_Controller, 2> mvsim::DynamicsDifferential::ControllerTwistPID::PIDs_

private

Definition at line 148 of file VehicleDifferential.h.

setpoint_

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

private

"vx" and "omega" only

Definition at line 149 of file VehicleDifferential.h.

setpointMtx_

std::mutex mvsim::DynamicsDifferential::ControllerTwistPID::setpointMtx_

mutableprivate

Definition at line 150 of file VehicleDifferential.h.

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

• VehicleDifferential.h
• VehicleDifferential_ControllerTwistPID.cpp