ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::fun::PlatoonController Class Reference

#include <platoon_controller.h>

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Public Member Functions

 PlatoonController (adore::env::CooperativeUsersProcess *cup, Planner_data data)
 
 ~PlatoonController ()
 
void update (adore::fun::VehicleMotionState9d &egoStates)
 
double getVelocity ()
 
double filter (double v)
 

Public Attributes

double error_preceding
 
double error_leader
 
double control_preceding
 
double control_leader
 
double currentTime
 
Planner_data data
 

Private Attributes

double correction
 
adore::env::CooperativeUsersProcesscup
 
double MAX_VELOCITY
 
double kI
 
double kp
 
double kl
 
double pl
 
double pp
 
double desiredTimeGap
 
double desiredTimeGapWithLeader
 
double timeDifference
 
double k1
 
double k2
 
double k3
 
double k4
 
double v1
 
double v2
 
double v3
 
double velocity
 
double previousErrorToLeader
 
double currentErrorToLeader
 
double previousErrorToPrecedor
 
double currentErrorToPrecedor
 
double suggested_velocity
 
double error_I
 

Constructor & Destructor Documentation

◆ PlatoonController()

adore::fun::PlatoonController::PlatoonController ( adore::env::CooperativeUsersProcess cup,
Planner_data  data 
)
inline

◆ ~PlatoonController()

adore::fun::PlatoonController::~PlatoonController ( )
inline

Member Function Documentation

◆ filter()

double adore::fun::PlatoonController::filter ( double  v)
inline
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◆ getVelocity()

double adore::fun::PlatoonController::getVelocity ( )
inline

◆ update()

void adore::fun::PlatoonController::update ( adore::fun::VehicleMotionState9d egoStates)
inline
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Member Data Documentation

◆ control_leader

double adore::fun::PlatoonController::control_leader

◆ control_preceding

double adore::fun::PlatoonController::control_preceding

◆ correction

double adore::fun::PlatoonController::correction
private

◆ cup

adore::env::CooperativeUsersProcess* adore::fun::PlatoonController::cup
private

◆ currentErrorToLeader

double adore::fun::PlatoonController::currentErrorToLeader
private

◆ currentErrorToPrecedor

double adore::fun::PlatoonController::currentErrorToPrecedor
private

◆ currentTime

double adore::fun::PlatoonController::currentTime

◆ data

Planner_data adore::fun::PlatoonController::data

◆ desiredTimeGap

double adore::fun::PlatoonController::desiredTimeGap
private

◆ desiredTimeGapWithLeader

double adore::fun::PlatoonController::desiredTimeGapWithLeader
private

◆ error_I

double adore::fun::PlatoonController::error_I
private

◆ error_leader

double adore::fun::PlatoonController::error_leader

◆ error_preceding

double adore::fun::PlatoonController::error_preceding

◆ k1

double adore::fun::PlatoonController::k1
private

◆ k2

double adore::fun::PlatoonController::k2
private

◆ k3

double adore::fun::PlatoonController::k3
private

◆ k4

double adore::fun::PlatoonController::k4
private

◆ kI

double adore::fun::PlatoonController::kI
private

◆ kl

double adore::fun::PlatoonController::kl
private

◆ kp

double adore::fun::PlatoonController::kp
private

◆ MAX_VELOCITY

double adore::fun::PlatoonController::MAX_VELOCITY
private

◆ pl

double adore::fun::PlatoonController::pl
private

◆ pp

double adore::fun::PlatoonController::pp
private

◆ previousErrorToLeader

double adore::fun::PlatoonController::previousErrorToLeader
private

◆ previousErrorToPrecedor

double adore::fun::PlatoonController::previousErrorToPrecedor
private

◆ suggested_velocity

double adore::fun::PlatoonController::suggested_velocity
private

◆ timeDifference

double adore::fun::PlatoonController::timeDifference
private

◆ v1

double adore::fun::PlatoonController::v1
private

◆ v2

double adore::fun::PlatoonController::v2
private

◆ v3

double adore::fun::PlatoonController::v3
private

◆ velocity

double adore::fun::PlatoonController::velocity
private

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