a dummy implementation for testing purposes More...

#include <ap_trajectory_tracking_dummy.h>

Inheritance diagram for adore::params::APTrajectoryTrackingDummy:

Collaboration diagram for adore::params::APTrajectoryTrackingDummy:

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:

/home/fascar/temp/adore/libadore/libadore/adore/params/include/adore/params/ap_trajectory_tracking_dummy.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()

◆ getKPepsi_r()

◆ getKPev_r()

◆ getKPex_r()

◆ getKPey_r()

◆ getMuCtrlMax()