#include <VehicleAckermann_Drivetrain.h>
Public Member Functions | |
| virtual void | control_step (const DynamicsAckermannDrivetrain::TControllerInput &ci, DynamicsAckermannDrivetrain::TControllerOutput &co) override |
| ControllerFrontSteerPID (DynamicsAckermannDrivetrain &veh) | |
| virtual void | load_config (const rapidxml::xml_node< char > &node) 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) |
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_lin_speed |
| double | setpoint_steer_ang |
Private Attributes | |
| double | r2f_L_ |
| ControllerTwistFrontSteerPID | twist_control_ |
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 128 of file VehicleAckermann_Drivetrain.h.
Constructor & Destructor Documentation
◆ ControllerFrontSteerPID()
| DynamicsAckermannDrivetrain::ControllerFrontSteerPID::ControllerFrontSteerPID | ( | DynamicsAckermannDrivetrain & | veh | ) |
Definition at line 17 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.
Member Function Documentation
◆ control_step()
|
overridevirtual |
(m/s) and steering angle (rad)
Definition at line 34 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.
◆ load_config()
|
overridevirtual |
Definition at line 66 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.
◆ teleop_interface()
|
overridevirtual |
This is to handle basic need of all the controllers.
Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.
Definition at line 82 of file VehicleAckermann_Drivetrain_ControllerFrontSteerPID.cpp.
Member Data Documentation
◆ KD
| double mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::KD |
PID controller parameters.
Definition at line 144 of file VehicleAckermann_Drivetrain.h.
◆ KI
| double mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::KI |
Definition at line 144 of file VehicleAckermann_Drivetrain.h.
◆ KP
| double mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::KP |
Definition at line 144 of file VehicleAckermann_Drivetrain.h.
◆ max_torque
| double mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::max_torque |
Maximum abs. value torque (for clamp) [Nm].
Definition at line 145 of file VehicleAckermann_Drivetrain.h.
◆ r2f_L_
|
private |
Definition at line 148 of file VehicleAckermann_Drivetrain.h.
◆ setpoint_lin_speed
| double mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::setpoint_lin_speed |
Definition at line 135 of file VehicleAckermann_Drivetrain.h.
◆ setpoint_steer_ang
| double mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::setpoint_steer_ang |
desired velocities
Definition at line 135 of file VehicleAckermann_Drivetrain.h.
◆ twist_control_
|
private |
Definition at line 147 of file VehicleAckermann_Drivetrain.h.
The documentation for this class was generated from the following files: