mvsim::DynamicsDifferential::ControllerRawForces Class Reference

Inheritance diagram for mvsim::DynamicsDifferential::ControllerRawForces:

Collaboration diagram for mvsim::DynamicsDifferential::ControllerRawForces:

Public Member Functions
	ControllerRawForces (DynamicsDifferential &veh)
virtual void	control_step (const DynamicsDifferential::TControllerInput &ci, DynamicsDifferential::TControllerOutput &co) 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_wheel_torque_l = 0
double	setpoint_wheel_torque_r = 0
double	setpoint_teleop_steps = 5e-2

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::DynamicsDifferential::ControllerRawForces::class_name ( )

inlinestatic

Directly set these values to tell the controller the desired setpoints

teleop_interface()

virtual void mvsim::DynamicsDifferential::ControllerRawForces::teleop_interface ( const TeleopInput &  in, TeleopOutput &  out  )

overridevirtual

This is to handle basic need of all the controllers.

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

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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/VehicleDynamics/VehicleDifferential.h