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

a dummy implementation for testing purposes More...

#include <ap_trajectory_tracking_dummy.h>

Inheritance diagram for adore::params::APTrajectoryTrackingDummy:
Inheritance graph
Collaboration diagram for adore::params::APTrajectoryTrackingDummy:
Collaboration graph

Public Member Functions

virtual double getKey () const override
 lateral control gain for lateral error ey More...
 
virtual double getKepsi () const override
 lateral control gain for yaw angle error epsi More...
 
virtual double getKeomega () const override
 lateral control gain for yaw rate error eomega More...
 
virtual double getKIx () const override
 returns I control gain for longitudinal direction More...
 
virtual double getK0x () const override
 returns P control gain for longitudinal direction More...
 
virtual double getK1x () const override
 returns D control gain for longitudinal direction More...
 
virtual double getMuCtrlMax () const override
 returns factor for maximum tire force requestable by controller, |f_requested|<muCtrlMax * f_max More...
 
virtual double getAxMax () const override
 hard coded maximum longitudinal acceleration More...
 
virtual double getAxMin () const override
 hard coded minimum longitudinal acceleration More...
 
virtual double getExStatic () const override
 static trajectory tracking offset in longitudinal direction, which should be compensated by tracking controller More...
 
virtual double getEyStatic () const override
 static trajectory tracking offset in lateral direction, which should be compensated by tracking controller More...
 
virtual double getDDeltaMax () const override
 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 override
 returns gain for braking torque calculation More...
 
virtual double getDBrakingTorqueMax () const override
 returns maxium braking torque rate More...
 
virtual double getKPev_r () const override
 reverse controller: control gain for speed error (P) More...
 
virtual double getKIev_r () const override
 reverse controller: control gain for integrated speed error (I) More...
 
virtual double getKPex_r () const override
 reverse controller: control gain for x error (P) More...
 
virtual double getKIex_r () const override
 reverse controller: control gain for integrated x error (I) More...
 
virtual double getKPey_r () const override
 reverse controller: control gain for y error (P) More...
 
virtual double getKPepsi_r () const override
 reverse controller: control gain for psi error (P) More...
 
virtual double getKIepsi_r () const override
 reverse controller: control gain for integrated psi error (I) More...
 
virtual double getDeltaMax () const override
 the maximum controllable steering angle More...
 
virtual double getDeltaMin () const override
 the minimum controllable steering angle More...
 
- Public Member Functions inherited from adore::params::APTrajectoryTracking
virtual double getKIy () const =0
 returns I control gain for lateral direction More...
 
virtual double getSteeringRateLimiterGain () const =0
 gain for steering rate limiter More...
 

Detailed Description

a dummy implementation for testing purposes

Member Function Documentation

◆ getAxMax()

virtual double adore::params::APTrajectoryTrackingDummy::getAxMax ( ) const
inlineoverridevirtual

hard coded maximum longitudinal acceleration

Implements adore::params::APTrajectoryTracking.

◆ getAxMin()

virtual double adore::params::APTrajectoryTrackingDummy::getAxMin ( ) const
inlineoverridevirtual

hard coded minimum longitudinal acceleration

Implements adore::params::APTrajectoryTracking.

◆ getBrakingTorqueGain()

virtual double adore::params::APTrajectoryTrackingDummy::getBrakingTorqueGain ( ) const
inlineoverridevirtual

returns gain for braking torque calculation

Implements adore::params::APTrajectoryTracking.

◆ getDBrakingTorqueMax()

virtual double adore::params::APTrajectoryTrackingDummy::getDBrakingTorqueMax ( ) const
inlineoverridevirtual

returns maxium braking torque rate

Implements adore::params::APTrajectoryTracking.

◆ getDDeltaMax()

virtual double adore::params::APTrajectoryTrackingDummy::getDDeltaMax ( ) const
inlineoverridevirtual

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

Implements adore::params::APTrajectoryTracking.

◆ getDeltaMax()

virtual double adore::params::APTrajectoryTrackingDummy::getDeltaMax ( ) const
inlineoverridevirtual

the maximum controllable steering angle

Implements adore::params::APTrajectoryTracking.

◆ getDeltaMin()

virtual double adore::params::APTrajectoryTrackingDummy::getDeltaMin ( ) const
inlineoverridevirtual

the minimum controllable steering angle

Implements adore::params::APTrajectoryTracking.

◆ getExStatic()

virtual double adore::params::APTrajectoryTrackingDummy::getExStatic ( ) const
inlineoverridevirtual

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

Implements adore::params::APTrajectoryTracking.

◆ getEyStatic()

virtual double adore::params::APTrajectoryTrackingDummy::getEyStatic ( ) const
inlineoverridevirtual

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

Implements adore::params::APTrajectoryTracking.

◆ getK0x()

virtual double adore::params::APTrajectoryTrackingDummy::getK0x ( ) const
inlineoverridevirtual

returns P control gain for longitudinal direction

Implements adore::params::APTrajectoryTracking.

◆ getK1x()

virtual double adore::params::APTrajectoryTrackingDummy::getK1x ( ) const
inlineoverridevirtual

returns D control gain for longitudinal direction

Implements adore::params::APTrajectoryTracking.

◆ getKeomega()

virtual double adore::params::APTrajectoryTrackingDummy::getKeomega ( ) const
inlineoverridevirtual

lateral control gain for yaw rate error eomega

Implements adore::params::APTrajectoryTracking.

◆ getKepsi()

virtual double adore::params::APTrajectoryTrackingDummy::getKepsi ( ) const
inlineoverridevirtual

lateral control gain for yaw angle error epsi

Implements adore::params::APTrajectoryTracking.

◆ getKey()

virtual double adore::params::APTrajectoryTrackingDummy::getKey ( ) const
inlineoverridevirtual

lateral control gain for lateral error ey

Implements adore::params::APTrajectoryTracking.

◆ getKIepsi_r()

virtual double adore::params::APTrajectoryTrackingDummy::getKIepsi_r ( ) const
inlineoverridevirtual

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

Implements adore::params::APTrajectoryTracking.

◆ getKIev_r()

virtual double adore::params::APTrajectoryTrackingDummy::getKIev_r ( ) const
inlineoverridevirtual

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

Implements adore::params::APTrajectoryTracking.

◆ getKIex_r()

virtual double adore::params::APTrajectoryTrackingDummy::getKIex_r ( ) const
inlineoverridevirtual

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

Implements adore::params::APTrajectoryTracking.

◆ getKIx()

virtual double adore::params::APTrajectoryTrackingDummy::getKIx ( ) const
inlineoverridevirtual

returns I control gain for longitudinal direction

Implements adore::params::APTrajectoryTracking.

◆ getKPepsi_r()

virtual double adore::params::APTrajectoryTrackingDummy::getKPepsi_r ( ) const
inlineoverridevirtual

reverse controller: control gain for psi error (P)

Implements adore::params::APTrajectoryTracking.

◆ getKPev_r()

virtual double adore::params::APTrajectoryTrackingDummy::getKPev_r ( ) const
inlineoverridevirtual

reverse controller: control gain for speed error (P)

Implements adore::params::APTrajectoryTracking.

◆ getKPex_r()

virtual double adore::params::APTrajectoryTrackingDummy::getKPex_r ( ) const
inlineoverridevirtual

reverse controller: control gain for x error (P)

Implements adore::params::APTrajectoryTracking.

◆ getKPey_r()

virtual double adore::params::APTrajectoryTrackingDummy::getKPey_r ( ) const
inlineoverridevirtual

reverse controller: control gain for y error (P)

Implements adore::params::APTrajectoryTracking.

◆ getMuCtrlMax()

virtual double adore::params::APTrajectoryTrackingDummy::getMuCtrlMax ( ) const
inlineoverridevirtual

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

Implements adore::params::APTrajectoryTracking.


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