#include <VehicleDifferential.h>
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 |
| virtual bool | setTwistCommand (const double vx, const double wz) 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 | newLogSession () |
| virtual void | setLogRecording (bool recording) |
| virtual | ~ControllerBaseTempl () |
Static Public Member Functions | |
| static const char * | class_name () |
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_ang_speed |
| desired velocities (m/s) and (rad/s) More... | |
| double | setpoint_lin_speed |
Private Attributes | |
| double | m_distWheels |
| PID_Controller | m_PID [2] |
Additional Inherited Members | |
| Protected Attributes inherited from mvsim::ControllerBaseTempl< VEH_DYNAMICS > | |
| VEH_DYNAMICS & | m_veh |
Detailed Description
PID controller that controls the vehicle twist: linear & angular velocities
Definition at line 71 of file VehicleDifferential.h.
Constructor & Destructor Documentation
| DynamicsDifferential::ControllerTwistPID::ControllerTwistPID | ( | DynamicsDifferential & | veh | ) |
Definition at line 16 of file VehicleDifferential_ControllerTwistPID.cpp.
Member Function Documentation
|
inlinestatic |
Directly set these values to tell the controller the desired setpoints
Definition at line 75 of file VehicleDifferential.h.
|
overridevirtual |
Definition at line 33 of file VehicleDifferential_ControllerTwistPID.cpp.
|
overridevirtual |
Override to load class-specific options from the <controller> node
Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.
Definition at line 68 of file VehicleDifferential_ControllerTwistPID.cpp.
|
inlineoverridevirtual |
Accept a Twist command.
- Returns
- true if the controller supports this kind of commands, false otherwise
Reimplemented from mvsim::ControllerBaseInterface.
Definition at line 90 of file VehicleDifferential.h.
|
overridevirtual |
This is to handle basic need of all the controllers.
Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.
Definition at line 84 of file VehicleDifferential_ControllerTwistPID.cpp.
Member Data Documentation
| double mvsim::DynamicsDifferential::ControllerTwistPID::KD |
PID controller parameters.
Definition at line 87 of file VehicleDifferential.h.
| double mvsim::DynamicsDifferential::ControllerTwistPID::KI |
Definition at line 87 of file VehicleDifferential.h.
| double mvsim::DynamicsDifferential::ControllerTwistPID::KP |
Definition at line 87 of file VehicleDifferential.h.
|
private |
Definition at line 98 of file VehicleDifferential.h.
|
private |
Definition at line 99 of file VehicleDifferential.h.
| double mvsim::DynamicsDifferential::ControllerTwistPID::max_torque |
Maximum abs. value torque (for clamp) [Nm].
Definition at line 88 of file VehicleDifferential.h.
| double mvsim::DynamicsDifferential::ControllerTwistPID::setpoint_ang_speed |
desired velocities (m/s) and (rad/s)
Definition at line 78 of file VehicleDifferential.h.
| double mvsim::DynamicsDifferential::ControllerTwistPID::setpoint_lin_speed |
Definition at line 78 of file VehicleDifferential.h.
The documentation for this class was generated from the following files: