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>
Collaboration diagram for chrono::vehicle::ChAdaptiveSpeedController:
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 ChFrameMoving<> &ref_frame) |
| Reset the PID controller. | |
| double | Advance (const ChFrameMoving<> &ref_frame, double target_speed, double target_following_time, double target_min_distance, double current_distance, double time, 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::ChWriterCSV * | m_csv |
| ChWriterCSV 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 ChFrameMoving<> & | ref_frame, |
| double | target_speed, | ||
| double | target_following_time, | ||
| double | target_min_distance, | ||
| double | current_distance, | ||
| double | time, | ||
| 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.
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
