adore::fun::VLB_OpenLoop Class Reference

#include <vlb_openloop.h>

Inheritance diagram for adore::fun::VLB_OpenLoop:

Collaboration diagram for adore::fun::VLB_OpenLoop:

Public Member Functions
	VLB_OpenLoop (adore::params::APVehicle *p)
void	updateParameters (adore::params::APVehicle *p)
void	setReference (double value)
void	setGearState (VehicleExtendedState::GearState value)
virtual void	f (double t, const adoreMatrix< double, 0, 1 > &x_in, adoreMatrix< double, 0, 1 > &dx_out)
Public Member Functions inherited from adore::mad::AOdeModel< double >
	AOdeModel ()
virtual	~AOdeModel ()

Private Attributes
double	lambda_
double	a_
double	b_
double	L_
double	h_
double	g_
double	mu_
double	cf_
double	cr_
double	Iz_m_
double	delta_max_
double	delta_min_
VehicleExtendedState::GearState	gearState_

Detailed Description

An open loop vehicle bicycle model with linear tire forces. The state vector of the model contains the position of a reference point defined by parameter lambda: Lambda is the distance from the center of the rear axle (COR) to the reference point. The lateral speed vy (corresponding to slip angle beta in other models) is given also for the reference point. The gear state is applied as a static parameter in the differential equation.

Constructor & Destructor Documentation

VLB_OpenLoop()

adore::fun::VLB_OpenLoop::VLB_OpenLoop ( adore::params::APVehicle *  p )

inline

Constructor

Parameters

p	vehicle parameters

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Member Function Documentation

f()

virtual void adore::fun::VLB_OpenLoop::f ( double  t, const adoreMatrix< double, 0, 1 > &  x_in, adoreMatrix< double, 0, 1 > &  dx_out  )

inlinevirtual

f computes the derivative at time t and state x_in. the result is placed in the matrix/vector x_out. R^10: [X,Y,psi,vx,vy,omega, ax, delta, dax, ddelta]

Parameters

t	time (not used here)
x_in	current state
dx_out	derivative of state, output of the function

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

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setGearState()

void adore::fun::VLB_OpenLoop::setGearState ( VehicleExtendedState::GearState  value )

inline

set the gear state

Parameters

value

the new gear state

setReference()

void adore::fun::VLB_OpenLoop::setReference ( double  value )

inline

set the position of the reference point

Parameters

value

the new reference point position

updateParameters()

void adore::fun::VLB_OpenLoop::updateParameters ( adore::params::APVehicle *  p )

inline

Read the parameters again.

Parameters

p	vehicle parameters

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Member Data Documentation

a_

double adore::fun::VLB_OpenLoop::a_

private

b_

double adore::fun::VLB_OpenLoop::b_

private

cf_

double adore::fun::VLB_OpenLoop::cf_

private

cr_

double adore::fun::VLB_OpenLoop::cr_

private

delta_max_

double adore::fun::VLB_OpenLoop::delta_max_

private

delta_min_

double adore::fun::VLB_OpenLoop::delta_min_

private

g_

double adore::fun::VLB_OpenLoop::g_

private

gearState_

VehicleExtendedState::GearState adore::fun::VLB_OpenLoop::gearState_

private

h_

double adore::fun::VLB_OpenLoop::h_

private

Iz_m_

double adore::fun::VLB_OpenLoop::Iz_m_

private

L_

double adore::fun::VLB_OpenLoop::L_

private

lambda_

double adore::fun::VLB_OpenLoop::lambda_

private

mu_

double adore::fun::VLB_OpenLoop::mu_

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/ctrl/vlb_openloop.h