chrono::synchrono::ChMultiplePathSteeringController Class Reference


Concrete path-following steering PID controller with multiple path support.

#include <SynMultiPathDriver.h>

Inheritance diagram for chrono::synchrono::ChMultiplePathSteeringController:
Collaboration diagram for chrono::synchrono::ChMultiplePathSteeringController:

Public Member Functions

 ChMultiplePathSteeringController (std::vector< std::pair< std::shared_ptr< ChBezierCurve >, bool >> path_pairs, int lane=0)
 Construct a steering controller to track the specified path. More...
 ~ChMultiplePathSteeringController ()
 Destructor for ChPathSteeringController.
std::vector< std::shared_ptr< ChBezierCurve > > GetPath () const
 Return a pointer to the Bezier curve.
void changePath (int target_lane)
 Change the path to the index of the desire path.
unsigned addPath (std::shared_ptr< ChBezierCurve > path, bool isClosedPath=false)
 Add another path to the steering Controller, will return the path index in the array.
virtual void Reset (const vehicle::ChVehicle &vehicle) override
 Reset the PID controller. More...
virtual void CalcTargetLocation () override
 Calculate the current target point location. More...
- Public Member Functions inherited from chrono::vehicle::ChSteeringController
 ChSteeringController ()
 Construct a steering controller with default parameters. More...
 ChSteeringController (const std::string &filename)
 Construct a steering controller with parameters read from a JSON file.
virtual ~ChSteeringController ()
void SetLookAheadDistance (double dist)
 Specify the look-ahead distance. More...
void SetGains (double Kp, double Ki, double Kd)
 Set the gains for the PID controller.
const ChVectorGetSentinelLocation () const
 Return the current location of the sentinel point. More...
const ChVectorGetTargetLocation () const
 Return the current value of the target point. More...
double Advance (const ChVehicle &vehicle, double step)
 Advance the state of the PID controller. More...
void StartDataCollection ()
 Start/restart data collection.
void StopDataCollection ()
 Suspend/stop data collection.
bool IsDataCollectionEnabled () const
 Return true if data is being collected.
bool IsDataAvailable () const
 Return true if data is available for output.
void WriteOutputFile (const std::string &filename)
 Output data collected so far to the specified file.

Additional Inherited Members

- Protected Attributes inherited from chrono::vehicle::ChSteeringController
double m_dist
 look-ahead distance
ChVector m_sentinel
 position of sentinel point in global frame
ChVector m_target
 position of target point in global frame
double m_Kp
double m_Ki
 PID controller gains.
double m_Kd
double m_err
 current error (signed distance to target point)
double m_errd
 error derivative
double m_erri
 integral of error
utils::CSV_writer * m_csv
 CSV_writer object for data collection.
bool m_collect
 flag indicating whether or not data is being collected

Constructor & Destructor Documentation

◆ ChMultiplePathSteeringController()

chrono::synchrono::ChMultiplePathSteeringController::ChMultiplePathSteeringController ( std::vector< std::pair< std::shared_ptr< ChBezierCurve >, bool >>  path_pairs,
int  lane = 0 

Construct a steering controller to track the specified path.

This version uses default controller parameters (zero gains). The user is responsible for calling SetGains and SetLookAheadDistance.

Member Function Documentation

◆ CalcTargetLocation()

void chrono::synchrono::ChMultiplePathSteeringController::CalcTargetLocation ( )

Calculate the current target point location.

The target point is the point on the associated path that is closest to the current location of the sentinel point.

Implements chrono::vehicle::ChSteeringController.

◆ Reset()

void chrono::synchrono::ChMultiplePathSteeringController::Reset ( const vehicle::ChVehicle vehicle)

Reset the PID controller.

This function resets the underlying path tracker using the current location of the sentinel point.

Reimplemented from chrono::vehicle::ChSteeringController.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_synchrono/controller/driver/SynMultiPathDriver.h
  • /builds/uwsbel/chrono/src/chrono_synchrono/controller/driver/SynMultiPathDriver.cpp