Description

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 ()
	Destructor.

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 ChVector &	GetSentinelLocation () const
	Return the current location of the sentinel point. More...

const ChVector &	GetTargetLocation () 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 ( )

overridevirtual

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 )

overridevirtual

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