adore::fun::RoadCoordinateConverter::ZeroDynamicsModel Class Reference

Inheritance diagram for adore::fun::RoadCoordinateConverter::ZeroDynamicsModel:

Collaboration diagram for adore::fun::RoadCoordinateConverter::ZeroDynamicsModel:

Public Member Functions
	ZeroDynamicsModel (RoadCoordinateConverter *parent, adore::mad::AScalarToN< double, 4 > *lon_trajectory, adore::mad::AScalarToN< double, 4 > *lat_trajectory, double s0)
virtual void	fh (double t, const adoreMatrix< double, 0, 1 > &x_in, adoreMatrix< double, 0, 1 > &dx_out, adoreMatrix< double, 0, 1 > &y_out) override
Public Member Functions inherited from adore::mad::AOdeModelWithOutput< double >
	AOdeModelWithOutput ()
virtual	~AOdeModelWithOutput ()

Private Attributes
RoadCoordinateConverter *	parent_
adore::mad::AScalarToN< double, 4 > *	lon_trajectory_
adore::mad::AScalarToN< double, 4 > *	lat_trajectory_
adoreMatrix< double, 0, 1 >	dx_full_
double	s0_

Detailed Description

Conversion from point-mass model to vehicle models with yaw dynamics. The conversion is achieved by solving an initial value problem for heading and yaw rate.

Constructor & Destructor Documentation

ZeroDynamicsModel()

adore::fun::RoadCoordinateConverter::ZeroDynamicsModel::ZeroDynamicsModel ( RoadCoordinateConverter *  parent, adore::mad::AScalarToN< double, 4 > *  lon_trajectory, adore::mad::AScalarToN< double, 4 > *  lat_trajectory, double  s0  )

inline

Constructor Parametrized with parent (in order to compute coordinate conversions) and the trajectory for which zd is computed

Member Function Documentation

fh()

virtual void adore::fun::RoadCoordinateConverter::ZeroDynamicsModel::fh ( double  t, const adoreMatrix< double, 0, 1 > &  x_in, adoreMatrix< double, 0, 1 > &  dx_out, adoreMatrix< double, 0, 1 > &  y_out  )

inlineoverridevirtual

Differential equation for vehicle's zero dynamics. Ode uses state x = [psi,omega], with #x=2 and output y=[Xr,Yr,psi,vx,vyr,omega,ax,delta,dax,ddelta], with #y=10

Implements adore::mad::AOdeModelWithOutput< double >.

Here is the call graph for this function:

Member Data Documentation

dx_full_

adoreMatrix<double,0,1> adore::fun::RoadCoordinateConverter::ZeroDynamicsModel::dx_full_

private

lat_trajectory_

adore::mad::AScalarToN<double,4>* adore::fun::RoadCoordinateConverter::ZeroDynamicsModel::lat_trajectory_

private

lon_trajectory_

adore::mad::AScalarToN<double,4>* adore::fun::RoadCoordinateConverter::ZeroDynamicsModel::lon_trajectory_

private

parent_

RoadCoordinateConverter* adore::fun::RoadCoordinateConverter::ZeroDynamicsModel::parent_

private

s0_

double adore::fun::RoadCoordinateConverter::ZeroDynamicsModel::s0_

private

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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/tac/roadcoordinates.h