chrono::vehicle::ChAdaptiveSpeedController Class Reference

Description

Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired.

Data collected so far can be written to a file. The tab-separated output ASCII file contains on each line the time, current desired speed, and current actual speed.

#include <ChAdaptiveSpeedController.h>

Public Member Functions
	ChAdaptiveSpeedController ()
	Construct a speed controller with default parameters. More...
	ChAdaptiveSpeedController (const std::string &filename)
	Construct a steering controller with parameters read from a JSON file.
virtual	~ChAdaptiveSpeedController ()
	Destructor.
void	SetGains (double Kp, double Ki, double Kd)
	Set the gains for the PID controller.
double	GetCurrentSpeed () const
	Return the current speed.
virtual void	Reset (const ChVehicle &vehicle)
	Reset the PID controller.
double	Advance (const ChVehicle &vehicle, double target_speed, double target_following_time, double target_min_distance, double current_distance, 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.

Protected Attributes
double	m_speed
	current vehicle speed
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

ChAdaptiveSpeedController()

chrono::vehicle::ChAdaptiveSpeedController::ChAdaptiveSpeedController

(

)

Construct a speed controller with default parameters.

Default values are all gains set to zero (no controller). The user is responsible for calling SetGains.

Member Function Documentation

Advance()

double chrono::vehicle::ChAdaptiveSpeedController::Advance	(	const ChVehicle &	vehicle,
		double	target_speed,
		double	target_following_time,
		double	target_min_distance,
		double	current_distance,
		double	step
	)

Advance the state of the PID controller.

This function performs the required integration for the integral component of the PID controller and returns the calculated controller value.

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The documentation for this class was generated from the following files:

• /builds/uwsbel/chrono/src/chrono_vehicle/utils/ChAdaptiveSpeedController.h
• /builds/uwsbel/chrono/src/chrono_vehicle/utils/ChAdaptiveSpeedController.cpp