#include <VehicleDifferential.h>

Inheritance diagram for mvsim::DynamicsDifferential::ControllerTwistPID:

Collaboration diagram for mvsim::DynamicsDifferential::ControllerTwistPID:

Public Member Functions
	ControllerTwistPID (DynamicsDifferential &veh)

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

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

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

bool	setTwistCommand (const mrpt::math::TTwist2D &t) override

mrpt::math::TTwist2D	setpoint () const

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	KP = 10
	PID controller parameters.

double	KI = 0

double	KD = 0

double	N = 0

double	max_torque = 100
	Maximum abs. value torque (for clamp) [Nm].

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 twist: linear & angular velocities

Member Function Documentation

◆ setpoint()

mrpt::math::TTwist2D mvsim::DynamicsDifferential::ControllerTwistPID::setpoint ( ) const

inline

Returns the current setpoint of the controller

◆ teleop_interface()

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

overridevirtual

This is to handle basic need of all the controllers.

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Member Data Documentation

◆ enable_feedforward

bool mvsim::DynamicsDifferential::ControllerTwistPID::enable_feedforward = false

Enable slope feedforward compensation

◆ enable_reference_filter

bool mvsim::DynamicsDifferential::ControllerTwistPID::enable_reference_filter = false

Enable reference (setpoint) filter

◆ feedforward_gain

double mvsim::DynamicsDifferential::ControllerTwistPID::feedforward_gain = 1.0

Gain for slope feedforward (1.0 = full compensation)

◆ N

double mvsim::DynamicsDifferential::ControllerTwistPID::N = 0

Derivative filter coefficient (0=unfiltered, typical: 2-20)

◆ reference_filter_order

int mvsim::DynamicsDifferential::ControllerTwistPID::reference_filter_order = 1

Order of the reference filter (1 or 2)

◆ reference_filter_tau

double mvsim::DynamicsDifferential::ControllerTwistPID::reference_filter_tau = 0.1

Time constant for reference filter [seconds]

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

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members