adore::fun::LinearTrackingController Class Reference

#include <linear_tracking_controller.h>

Collaboration diagram for adore::fun::LinearTrackingController:

Public Member Functions
	LinearTrackingController (adore::params::APVehicle *pVehicle, adore::params::APTrajectoryTracking *pControl)
double	get_ex ()
	returns the longitudinal tracking error More...
double	get_ey ()
	returns the lateral tracking error More...
void	setUseIntegrator (bool value)
void	resetIntegrator (bool value)
void	compute_control_input (const VehicleMotionState9d &x, const PlanarVehicleState10d &xref, MotionCommand &u)

Private Attributes
adore::params::APVehicle *	m_pVehParameters
adore::params::APTrajectoryTracking *	m_pCtrlParameters
double	m_ex
double	m_ey
	longitudinal tracking error More...
double	m_Ix
	lateral tracking error More...
double	m_Iy
	integrator in longitudinal direction More...
bool	m_use_integrator
	integrator in lateral direction More...
bool	m_reset_integrator

Detailed Description

An (almost) linear trajectory tracking controller. The controller computes error states in longitudinal (ex, ev) and lateral direction (ey, epsi, eomega) and feeds these back linearly via the control inputs ax (acceleration) and delta (steering angle). Feedback terms are combined with feedforward control inputs axs and deltas. Nonlinearity occurs as cos, sin in transformation of position error into coordinates of reference trajectory.

Constructor & Destructor Documentation

LinearTrackingController()

adore::fun::LinearTrackingController::LinearTrackingController ( adore::params::APVehicle *  pVehicle, adore::params::APTrajectoryTracking *  pControl  )

inline

Constructor.

Parameters

pVehicle	vehicle parameters
pControl	feedback control parameters

Member Function Documentation

compute_control_input()

void adore::fun::LinearTrackingController::compute_control_input ( const VehicleMotionState9d &  x, const PlanarVehicleState10d &  xref, MotionCommand &  u  )

inline

Compute the controller.

Parameters

x	current state
xref	reference state, xref=tau(t), including feedforward control
u	vehicle control input, output of the function

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get_ex()

double adore::fun::LinearTrackingController::get_ex ( )

inline

returns the longitudinal tracking error

get_ey()

double adore::fun::LinearTrackingController::get_ey ( )

inline

returns the lateral tracking error

resetIntegrator()

void adore::fun::LinearTrackingController::resetIntegrator ( bool  value )

inline

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setUseIntegrator()

void adore::fun::LinearTrackingController::setUseIntegrator ( bool  value )

inline

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Member Data Documentation

m_ex

double adore::fun::LinearTrackingController::m_ex

private

m_ey

double adore::fun::LinearTrackingController::m_ey

private

longitudinal tracking error

m_Ix

double adore::fun::LinearTrackingController::m_Ix

private

lateral tracking error

m_Iy

double adore::fun::LinearTrackingController::m_Iy

private

integrator in longitudinal direction

m_pCtrlParameters

adore::params::APTrajectoryTracking* adore::fun::LinearTrackingController::m_pCtrlParameters

private

m_pVehParameters

adore::params::APVehicle* adore::fun::LinearTrackingController::m_pVehParameters

private

m_reset_integrator

bool adore::fun::LinearTrackingController::m_reset_integrator

private

m_use_integrator

bool adore::fun::LinearTrackingController::m_use_integrator

private

integrator in lateral direction

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The documentation for this class was generated from the following file:

• /home/fascar/temp/adore/libadore/libadore/adore/fun/include/adore/fun/ctrl/linear_tracking_controller.h