Inheritance diagram for mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID:

Collaboration diagram for mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID:

Public Member Functions
	ControllerFrontSteerPID (DynamicsAckermannDrivetrain &veh)

virtual void	control_step (const DynamicsAckermannDrivetrain::TControllerInput &ci, DynamicsAckermannDrivetrain::TControllerOutput &co) override

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 >
	ControllerBaseTempl (VEH_DYNAMICS &veh)

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)

Static Public Member Functions
static const char *	class_name ()

Public Attributes
double	setpoint_lin_speed

double	setpoint_steer_ang

double	KP

double	KI

double	KD
	PID controller parameters.

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

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_

Member Function Documentation

◆ class_name()

static const char* mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::class_name ( )

inlinestatic

Directly set these values to tell the controller the desired setpoints

virtual void mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::teleop_interface	(	const TeleopInput &	in,
		TeleopOutput &	out
	)

overridevirtual

This is to handle basic need of all the controllers.

double mvsim::DynamicsAckermannDrivetrain::ControllerFrontSteerPID::setpoint_steer_ang

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

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/VehicleDynamics/VehicleAckermann_Drivetrain.h