mvsim::ControllerBaseTempl< VEH_DYNAMICS > Class Template Reference

#include <ControllerBase.h>

Inheritance diagram for mvsim::ControllerBaseTempl< VEH_DYNAMICS >:

Collaboration diagram for mvsim::ControllerBaseTempl< VEH_DYNAMICS >:

Public Types
using	Ptr = std::shared_ptr< ControllerBaseTempl< VEH_DYNAMICS > >

Public Member Functions
	ControllerBaseTempl (VEH_DYNAMICS &veh)
virtual void	teleop_interface (const TeleopInput &in, TeleopOutput &out) override
virtual void	control_step (const typename VEH_DYNAMICS::TControllerInput &ci, typename VEH_DYNAMICS::TControllerOutput &co)=0
virtual void	on_post_step ([[maybe_unused]] const TSimulContext &context)
virtual void	load_config ([[maybe_unused]] const rapidxml::xml_node< char > &node)
virtual void	setLogRecording (bool recording)
virtual void	clearLogs ()
virtual void	newLogSession ()
Public Member Functions inherited from mvsim::ControllerBaseInterface
virtual void	teleop_interface ([[maybe_unused]] const TeleopInput &in, [[maybe_unused]] TeleopOutput &out)
virtual bool	setTwistCommand ([[maybe_unused]] const mrpt::math::TTwist2D &t)

Protected Attributes
VEH_DYNAMICS &	veh_

Detailed Description

template<class VEH_DYNAMICS>
class mvsim::ControllerBaseTempl< VEH_DYNAMICS >

Virtual base for controllers of vehicles of any type (template)

Member Function Documentation

control_step()

template<class VEH_DYNAMICS >

virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::control_step ( const typename VEH_DYNAMICS::TControllerInput &  ci, typename VEH_DYNAMICS::TControllerOutput &  co  )

pure virtual

The core of the controller: will be called at each timestep before the numeric integration of dynamical eqs

load_config()

template<class VEH_DYNAMICS >

virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::load_config ( [[maybe_unused] ] const rapidxml::xml_node< char > &  node )

inlinevirtual

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

teleop_interface()

template<class VEH_DYNAMICS >

virtual void mvsim::ControllerBaseTempl< VEH_DYNAMICS >::teleop_interface ( const TeleopInput &  in, TeleopOutput &  out  )

inlineoverridevirtual

This is to handle basic need of all the controllers.

Reimplemented in mvsim::DynamicsDifferential::ControllerTwistIdeal, mvsim::DynamicsDifferential::ControllerTwistPID, mvsim::DynamicsDifferential::ControllerRawForces, mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID, mvsim::DynamicsAckermannDrivetrain::ControllerRawForces, mvsim::DynamicsAckermann::ControllerTwistIdeal, mvsim::DynamicsAckermann::ControllerFrontSteerPID, mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID, and mvsim::DynamicsAckermann::ControllerRawForces.

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

• /home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/ControllerBase.h