ap_trajectory_tracking_dummy.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Jan Lauermann - initial API and implementation
 ********************************************************************************/
 
#pragma once
#include <adore/params/ap_trajectory_tracking.h>
 
namespace adore
{
    namespace params
    {
 
        class APTrajectoryTrackingDummy:public APTrajectoryTracking
        {
 
        public:
            virtual double getKey()const override 
            {
                return 0.05;
            }
            virtual double getKepsi()const override 
            {
                return 0.4;
            }
            virtual double getKeomega()const override 
            {
                return 0.05;
            }
            virtual double getKIx()const override 
            {
                return 0.1;
            }
            virtual double getK0x()const override 
            {
                return 0.9;
            }
            virtual double getK1x()const override 
            {
                return 1.6;
            }
            virtual double getMuCtrlMax()const override 
            {
                return 1.0;
            }
            virtual double getAxMax()const override 
            {
                return 2.0;
            }
            virtual double getAxMin()const override 
            {
                return -3.0;
            }
            virtual double getExStatic()const override 
            {
                return 0.0;
            }
            virtual double getEyStatic()const override 
            {
                return 0.0;
            }
            virtual double getDDeltaMax()const override 
            {
                return 0.1;//3.14/2.0/5.0/100.0;
            }
            virtual double getBrakingTorqueGain()const override 
            {
                return 0.0;
            }
            virtual double getDBrakingTorqueMax()const override 
            {
                return 0.0;
            }
            virtual double getKPev_r()const override 
            {
                return 0.0;
            }
            virtual double getKIev_r()const override 
            {
                return 0.0;
            }
            virtual double getKPex_r()const override 
            {
                return 0.0;
            }
            virtual double getKIex_r()const override 
            {
                return 0.0;
            }
            virtual double getKPey_r()const override 
            {
                return 0.0;
            }
            virtual double getKPepsi_r()const override 
            {
                return 0.0;
            }
            virtual double getKIepsi_r()const override 
            {
                return 0.0;
            }
            virtual double getDeltaMax()const override
            {
                return 1.0;
            }           
            virtual double getDeltaMin()const override
            {
                return -1.0;
            }
        };
    }
}