#include <VehicleAckermann.h>
Inheritance diagram for mvsim::DynamicsAckermann::ControllerTwistIdeal:
Collaboration diagram for mvsim::DynamicsAckermann::ControllerTwistIdeal:
Public Member Functions | |
| ControllerTwistIdeal (DynamicsAckermann &veh) | |
| mrpt::math::TTwist2D | setpoint () const |
| void | setSetpoint (const mrpt::math::TTwist2D &sp) |
| virtual void | control_step (const DynamicsAckermann::TControllerInput &ci, DynamicsAckermann::TControllerOutput &co) override |
| virtual void | on_post_step (const TSimulContext &context) 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 () |
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
Ideal twist controller for Ackermann vehicles.
Works exactly like the differential ControllerTwistIdeal: the desired (vx, omega) twist is imposed directly on the vehicle state every step, bypassing the physical wheel torque model. It is useful for high-level planning tests where tyre dynamics are not of interest.
Keyboard teleop: w/s = faster/slower, a/d = turn left/right, spacebar = stop.
Member Function Documentation
◆ setpoint()
|
inline |
Desired twist setpoint (vx [m/s], vy ignored, omega [rad/s])
◆ teleop_interface()
|
overridevirtual |
This is to handle basic need of all the controllers.
Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.
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
