abstract class containing parameters to configure the behaviour of the trajactory tracking controller More...

#include <ap_trajectory_tracking.h>

Inheritance diagram for adore::params::APTrajectoryTracking:

Collaboration diagram for adore::params::APTrajectoryTracking:

Public Member Functions
virtual double	getKey () const =0
	lateral control gain for lateral error ey More...

virtual double	getKepsi () const =0
	lateral control gain for yaw angle error epsi More...

virtual double	getKeomega () const =0
	lateral control gain for yaw rate error eomega More...

virtual double	getKIy () const =0
	returns I control gain for lateral direction More...

virtual double	getKIx () const =0
	returns I control gain for longitudinal direction More...

virtual double	getK0x () const =0
	returns P control gain for longitudinal direction More...

virtual double	getK1x () const =0
	returns D control gain for longitudinal direction More...

virtual double	getMuCtrlMax () const =0
	returns factor for maximum tire force requestable by controller, \|f_requested\|<muCtrlMax * f_max More...

virtual double	getAxMax () const =0
	hard coded maximum longitudinal acceleration More...

virtual double	getAxMin () const =0
	hard coded minimum longitudinal acceleration More...

virtual double	getExStatic () const =0
	static trajectory tracking offset in longitudinal direction, which should be compensated by tracking controller More...

virtual double	getEyStatic () const =0
	static trajectory tracking offset in lateral direction, which should be compensated by tracking controller More...

virtual double	getDeltaMax () const =0
	the maximum controllable steering angle More...

virtual double	getDeltaMin () const =0
	the minimum controllable steering angle More...

virtual double	getDDeltaMax () const =0
	steering angle: maximum absolute control input change per control update. Maximum steering rate then depends on execution rate of controller. More...

virtual double	getBrakingTorqueGain () const =0
	returns gain for braking torque calculation More...

virtual double	getDBrakingTorqueMax () const =0
	returns maxium braking torque rate More...

virtual double	getKPev_r () const =0
	reverse controller: control gain for speed error (P) More...

virtual double	getKIev_r () const =0
	reverse controller: control gain for integrated speed error (I) More...

virtual double	getKPex_r () const =0
	reverse controller: control gain for x error (P) More...

virtual double	getKIex_r () const =0
	reverse controller: control gain for integrated x error (I) More...

virtual double	getKPey_r () const =0
	reverse controller: control gain for y error (P) More...

virtual double	getKPepsi_r () const =0
	reverse controller: control gain for psi error (P) More...

virtual double	getKIepsi_r () const =0
	reverse controller: control gain for integrated psi error (I) More...

virtual double	getSteeringRateLimiterGain () const =0
	gain for steering rate limiter More...

Detailed Description

abstract class containing parameters to configure the behaviour of the trajactory tracking controller

Member Function Documentation

◆ getAxMax()

virtual double adore::params::APTrajectoryTracking::getAxMax ( ) const

pure virtual

hard coded maximum longitudinal acceleration

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getAxMin()

virtual double adore::params::APTrajectoryTracking::getAxMin ( ) const

pure virtual

hard coded minimum longitudinal acceleration

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getBrakingTorqueGain()

virtual double adore::params::APTrajectoryTracking::getBrakingTorqueGain ( ) const

pure virtual

returns gain for braking torque calculation

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

◆ getDBrakingTorqueMax()

virtual double adore::params::APTrajectoryTracking::getDBrakingTorqueMax ( ) const

pure virtual

returns maxium braking torque rate

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

◆ getDDeltaMax()

virtual double adore::params::APTrajectoryTracking::getDDeltaMax ( ) const

pure virtual

steering angle: maximum absolute control input change per control update. Maximum steering rate then depends on execution rate of controller.

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getDeltaMax()

virtual double adore::params::APTrajectoryTracking::getDeltaMax ( ) const

pure virtual

the maximum controllable steering angle

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getDeltaMin()

virtual double adore::params::APTrajectoryTracking::getDeltaMin ( ) const

pure virtual

the minimum controllable steering angle

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getExStatic()

virtual double adore::params::APTrajectoryTracking::getExStatic ( ) const

pure virtual

static trajectory tracking offset in longitudinal direction, which should be compensated by tracking controller

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getEyStatic()

virtual double adore::params::APTrajectoryTracking::getEyStatic ( ) const

pure virtual

static trajectory tracking offset in lateral direction, which should be compensated by tracking controller

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getK0x()

virtual double adore::params::APTrajectoryTracking::getK0x ( ) const

pure virtual

returns P control gain for longitudinal direction

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getK1x()

virtual double adore::params::APTrajectoryTracking::getK1x ( ) const

pure virtual

returns D control gain for longitudinal direction

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getKeomega()

virtual double adore::params::APTrajectoryTracking::getKeomega ( ) const

pure virtual

lateral control gain for yaw rate error eomega

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getKepsi()

virtual double adore::params::APTrajectoryTracking::getKepsi ( ) const

pure virtual

lateral control gain for yaw angle error epsi

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getKey()

virtual double adore::params::APTrajectoryTracking::getKey ( ) const

pure virtual

lateral control gain for lateral error ey

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getKIepsi_r()

virtual double adore::params::APTrajectoryTracking::getKIepsi_r ( ) const

pure virtual

reverse controller: control gain for integrated psi error (I)

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

◆ getKIev_r()

virtual double adore::params::APTrajectoryTracking::getKIev_r ( ) const

pure virtual

reverse controller: control gain for integrated speed error (I)

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

◆ getKIex_r()

virtual double adore::params::APTrajectoryTracking::getKIex_r ( ) const

pure virtual

reverse controller: control gain for integrated x error (I)

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

◆ getKIx()

virtual double adore::params::APTrajectoryTracking::getKIx ( ) const

pure virtual

returns I control gain for longitudinal direction

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

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◆ getKIy()

virtual double adore::params::APTrajectoryTracking::getKIy ( ) const

pure virtual

returns I control gain for lateral direction

Implemented in adore::if_ROS::params::PTrajectoryTracking.

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◆ getKPepsi_r()

virtual double adore::params::APTrajectoryTracking::getKPepsi_r ( ) const

pure virtual

reverse controller: control gain for psi error (P)

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

◆ getKPev_r()

virtual double adore::params::APTrajectoryTracking::getKPev_r ( ) const

pure virtual

reverse controller: control gain for speed error (P)

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

◆ getKPex_r()

virtual double adore::params::APTrajectoryTracking::getKPex_r ( ) const

pure virtual

reverse controller: control gain for x error (P)

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

◆ getKPey_r()

virtual double adore::params::APTrajectoryTracking::getKPey_r ( ) const

pure virtual

reverse controller: control gain for y error (P)

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

◆ getMuCtrlMax()

virtual double adore::params::APTrajectoryTracking::getMuCtrlMax ( ) const

pure virtual

returns factor for maximum tire force requestable by controller, |f_requested|<muCtrlMax * f_max

Implemented in adore::params::APTrajectoryTrackingDummy, and adore::if_ROS::params::PTrajectoryTracking.

◆ getSteeringRateLimiterGain()

virtual double adore::params::APTrajectoryTracking::getSteeringRateLimiterGain ( ) const

pure virtual

gain for steering rate limiter

Implemented in adore::if_ROS::params::PTrajectoryTracking.

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

/home/fascar/temp/adore/libadore/libadore/adore/params/include/adore/params/ap_trajectory_tracking.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ getAxMax()

◆ getAxMin()

◆ getBrakingTorqueGain()

◆ getDBrakingTorqueMax()

◆ getDDeltaMax()

◆ getDeltaMax()

◆ getDeltaMin()

◆ getExStatic()

◆ getEyStatic()

◆ getK0x()

◆ getK1x()

◆ getKeomega()

◆ getKepsi()

◆ getKey()

◆ getKIepsi_r()

◆ getKIev_r()

◆ getKIex_r()

◆ getKIx()

◆ getKIy()

◆ getKPepsi_r()

◆ getKPev_r()

◆ getKPex_r()

◆ getKPey_r()

◆ getMuCtrlMax()

◆ getSteeringRateLimiterGain()