#include <terminal_controller.h>

Collaboration diagram for adore::fun::TerminalController:

Public Member Functions
	TerminalController (adore::params::APEmergencyOperation ap_em, adore::params::APVehicle ap_v)

void	compute_control_input (const VehicleMotionState9d &x, const TerminalRequest &term, MotionCommand &u)

Private Attributes
adore::params::APEmergencyOperation *	ap_em_

adore::params::APVehicle *	ap_v_

Detailed Description

A simple controller for emergency braking and lateral stabilization during emergency braking. Main goal of the controller is to stop the vehicle as soon as possible, therefore a high deceleration value is applied. The controller is provided with a reference in the form of a straight line, around which to stabilize the vehicle during braking.

Constructor & Destructor Documentation

◆ TerminalController()

adore::fun::TerminalController::TerminalController	(	adore::params::APEmergencyOperation *	ap_em,
		adore::params::APVehicle *	ap_v
	)

inline

Constructor

Parameters

ap_em	emergency operation parameters
ap_v	vehicle parameters

Member Function Documentation

◆ compute_control_input()

void adore::fun::TerminalController::compute_control_input	(	const VehicleMotionState9d &	x,
		const TerminalRequest &	term,
		MotionCommand &	u
	)

inline

computation of controller

Parameters

x	vehicle state
term	terminal request: straight line around which to stabilize during braking
u	vehicle control input, output of the function

Here is the call graph for this function:

Member Data Documentation

◆ ap_em_

adore::params::APEmergencyOperation* adore::fun::TerminalController::ap_em_

private

◆ ap_v_

adore::params::APVehicle* adore::fun::TerminalController::ap_v_