a dummy implementation for testing purposes More...
#include <ap_trajectory_tracking_dummy.h>
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... | |
a dummy implementation for testing purposes
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inlineoverridevirtual |
hard coded maximum longitudinal acceleration
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
hard coded minimum longitudinal acceleration
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
returns gain for braking torque calculation
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
returns maxium braking torque rate
Implements adore::params::APTrajectoryTracking.
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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.
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inlineoverridevirtual |
the maximum controllable steering angle
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
the minimum controllable steering angle
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
static trajectory tracking offset in longitudinal direction, which should be compensated by tracking controller
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
static trajectory tracking offset in lateral direction, which should be compensated by tracking controller
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
returns P control gain for longitudinal direction
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
returns D control gain for longitudinal direction
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
lateral control gain for yaw rate error eomega
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
lateral control gain for yaw angle error epsi
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
lateral control gain for lateral error ey
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
reverse controller: control gain for integrated psi error (I)
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
reverse controller: control gain for integrated speed error (I)
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
reverse controller: control gain for integrated x error (I)
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
returns I control gain for longitudinal direction
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
reverse controller: control gain for psi error (P)
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
reverse controller: control gain for speed error (P)
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
reverse controller: control gain for x error (P)
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
reverse controller: control gain for y error (P)
Implements adore::params::APTrajectoryTracking.
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inlineoverridevirtual |
returns factor for maximum tire force requestable by controller, |f_requested|<muCtrlMax * f_max
Implements adore::params::APTrajectoryTracking.