Public Member Functions | Static Public Member Functions | Public Attributes | Private Attributes
mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID Class Reference

#include <VehicleAckermann.h>

Inheritance diagram for mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID:
Inheritance graph
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List of all members.

Public Member Functions

virtual void control_step (const DynamicsAckermann::TControllerInput &ci, DynamicsAckermann::TControllerOutput &co)
 ControllerTwistFrontSteerPID (DynamicsAckermann &veh)
virtual void load_config (const rapidxml::xml_node< char > &node)
virtual bool setTwistCommand (const double vx, const double wz)
virtual void teleop_interface (const TeleopInput &in, TeleopOutput &out)

Static Public Member Functions

static const char * class_name ()

Public Attributes

double KD
 PID controller parameters.
double KI
double KP
double max_torque
 Maximum abs. value torque (for clamp) [Nm].
double setpoint_ang_speed
 desired velocities (m/s) and (rad/s)
double setpoint_lin_speed

Private Attributes

double m_dist_fWheels
PID_Controller m_PID [2]
double m_r2f_L

Detailed Description

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

Definition at line 99 of file VehicleAckermann.h.


Constructor & Destructor Documentation


Member Function Documentation

Directly set these values to tell the controller the desired setpoints

Definition at line 103 of file VehicleAckermann.h.

Override to load class-specific options from the <controller> node

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Definition at line 132 of file VehicleAckermann_ControllerTwistFrontSteerPID.cpp.

virtual bool mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID::setTwistCommand ( const double  vx,
const double  wz 
) [inline, virtual]

Accept a Twist command.

Returns:
true if the controller supports this kind of commands, false otherwise

Reimplemented from mvsim::ControllerBaseInterface.

Definition at line 120 of file VehicleAckermann.h.

This is to handle basic need of all the controllers.

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Definition at line 148 of file VehicleAckermann_ControllerTwistFrontSteerPID.cpp.


Member Data Documentation

PID controller parameters.

Definition at line 116 of file VehicleAckermann.h.

Definition at line 116 of file VehicleAckermann.h.

Definition at line 116 of file VehicleAckermann.h.

Definition at line 128 of file VehicleAckermann.h.

Definition at line 129 of file VehicleAckermann.h.

Definition at line 128 of file VehicleAckermann.h.

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

Definition at line 117 of file VehicleAckermann.h.

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

Definition at line 106 of file VehicleAckermann.h.

Definition at line 106 of file VehicleAckermann.h.


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


mvsim
Author(s):
autogenerated on Thu Jun 6 2019 22:08:35