Inheritance diagram for mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID:

Collaboration diagram for mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID:

Public Member Functions
	ControllerTwistFrontSteerPID (DynamicsAckermann &veh)

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

virtual void	load_config (const rapidxml::xml_node< char > &node) override

virtual void	teleop_interface (const TeleopInput &in, TeleopOutput &out) override

virtual bool	setTwistCommand (const mrpt::math::TTwist2D &t) 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_ang_speed
	desired velocities (m/s) and (rad/s)

double	KP

double	KI

double	KD
	PID controller parameters.

double	N = 0
	Derivative filter coefficient.

double	max_torque

double	zero_threshold = 0.001
	setpoint magnitude below which it is treated as zero [m/s]

double	stop_threshold = 0.05
	velocity magnitude below which vehicle is considered stopped [m/s]

bool	enable_antiwindup = false

bool	enable_feedforward = false

double	feedforward_gain = 1.0

bool	enable_reference_filter = false

double	reference_filter_tau = 0.1

int	reference_filter_order = 1

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 Twist commands

Member Function Documentation

static const char* mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID::class_name ( )

inlinestatic

Directly set these values to tell the controller the desired setpoints

virtual void mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID::teleop_interface	(	const TeleopInput &	in,
		TeleopOutput &	out
	)

overridevirtual

This is to handle basic need of all the controllers.

double mvsim::DynamicsAckermann::ControllerTwistFrontSteerPID::max_torque

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

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.h