mvsim::DynamicsAckermann::ControllerFrontSteerPID Class Reference

#include <VehicleAckermann.h>

Inheritance diagram for mvsim::DynamicsAckermann::ControllerFrontSteerPID:

Public Member Functions
virtual void	control_step (const DynamicsAckermann::TControllerInput &ci, DynamicsAckermann::TControllerOutput &co) override
	ControllerFrontSteerPID (DynamicsAckermann &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	joyMaxLinSpeed = 1.0
double	joyMaxSteerAng = 0.7
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

PID controller that controls the vehicle with front traction & steering from steer & linear speed commands

Definition at line 112 of file VehicleAckermann.h.

Constructor & Destructor Documentation

ControllerFrontSteerPID()

DynamicsAckermann::ControllerFrontSteerPID::ControllerFrontSteerPID

(

DynamicsAckermann &

veh

)

Definition at line 17 of file VehicleAckermann_ControllerFrontSteerPID.cpp.

Member Function Documentation

control_step()

void DynamicsAckermann::ControllerFrontSteerPID::control_step ( const DynamicsAckermann::TControllerInput &  ci, DynamicsAckermann::TControllerOutput &  co  )

overridevirtual

(m/s) and steering angle (rad)

Definition at line 33 of file VehicleAckermann_ControllerFrontSteerPID.cpp.

load_config()

void DynamicsAckermann::ControllerFrontSteerPID::load_config ( const rapidxml::xml_node< char > &  node )

overridevirtual

Definition at line 64 of file VehicleAckermann_ControllerFrontSteerPID.cpp.

teleop_interface()

void DynamicsAckermann::ControllerFrontSteerPID::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 79 of file VehicleAckermann_ControllerFrontSteerPID.cpp.

Member Data Documentation

joyMaxLinSpeed

double mvsim::DynamicsAckermann::ControllerFrontSteerPID::joyMaxLinSpeed = 1.0

private

Definition at line 134 of file VehicleAckermann.h.

joyMaxSteerAng

double mvsim::DynamicsAckermann::ControllerFrontSteerPID::joyMaxSteerAng = 0.7

private

Definition at line 135 of file VehicleAckermann.h.

KD

double mvsim::DynamicsAckermann::ControllerFrontSteerPID::KD

PID controller parameters.

Definition at line 128 of file VehicleAckermann.h.

KI

double mvsim::DynamicsAckermann::ControllerFrontSteerPID::KI

Definition at line 128 of file VehicleAckermann.h.

KP

double mvsim::DynamicsAckermann::ControllerFrontSteerPID::KP

Definition at line 128 of file VehicleAckermann.h.

max_torque

double mvsim::DynamicsAckermann::ControllerFrontSteerPID::max_torque

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

Definition at line 129 of file VehicleAckermann.h.

r2f_L_

double mvsim::DynamicsAckermann::ControllerFrontSteerPID::r2f_L_

private

Definition at line 132 of file VehicleAckermann.h.

setpoint_lin_speed

double mvsim::DynamicsAckermann::ControllerFrontSteerPID::setpoint_lin_speed

Definition at line 119 of file VehicleAckermann.h.

setpoint_steer_ang

double mvsim::DynamicsAckermann::ControllerFrontSteerPID::setpoint_steer_ang

desired velocities

Definition at line 119 of file VehicleAckermann.h.

twist_control_

ControllerTwistFrontSteerPID mvsim::DynamicsAckermann::ControllerFrontSteerPID::twist_control_

private

Definition at line 131 of file VehicleAckermann.h.

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

• VehicleAckermann.h
• VehicleAckermann_ControllerFrontSteerPID.cpp