Description
Path-following steering 3(2) channel PDT1/PT1 controller.
The path to be followed is specified as a ChBezierCurve object and the target point is defined to be the point on that path that is closest to the current location of the sentinel point. The sentinel point should never leave the end or beginning of the path. The controller is sensitive to tire relaxiation, when steering oscillations occure and do not calm down after a short driving distance, Kp should be reduced carefully.
#include <ChSteeringController.h>
Public Member Functions | |
| ChPathSteeringControllerXT (std::shared_ptr< ChBezierCurve > path, double max_wheel_turn_angle=0.0) | |
| Construct a steering controller to track the specified path. More... | |
| ChPathSteeringControllerXT (const std::string &filename, std::shared_ptr< ChBezierCurve > path, double max_wheel_turn_angle=0.0) | |
| Construct a steering controller to track the specified path. More... | |
| virtual void | Reset (const ChFrameMoving<> &ref_frame) override |
| Reset the PID controller. More... | |
| void | SetGains (double Kp=0.4, double W_y_err=1.0, double W_heading_err=1.0, double W_ackermann=1.0) |
| Set the gains (weighting factors) for the eXTended controller. | |
| virtual void | CalcTargetLocation () override |
| Calculate the current target point location. More... | |
| virtual double | Advance (const ChFrameMoving<> &ref_frame, double time, double step) override |
| Advance the state of the XT controller. | |
 Public Member Functions inherited from chrono::vehicle::ChSteeringController | |
| virtual | ~ChSteeringController () |
| Destructor. | |
| void | SetLookAheadDistance (double dist) |
| Specify the look-ahead distance. More... | |
| const ChVector3d & | GetSentinelLocation () const |
| Return the current location of the sentinel point. More... | |
| const ChVector3d & | GetTargetLocation () const |
| Return the current value of the target point. More... | |
| std::shared_ptr< ChBezierCurve > | GetPath () const |
| Return a pointer to the Bezier curve. | |
| 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 Member Functions inherited from chrono::vehicle::ChSteeringController | |
| ChSteeringController (std::shared_ptr< ChBezierCurve > path) | |
| Construct a steering controller with default parameters. | |
| Protected Attributes inherited from chrono::vehicle::ChSteeringController | |
| std::shared_ptr< ChBezierCurve > | m_path |
| tracked path (piecewise cubic Bezier curve) | |
| double | m_dist |
| look-ahead distance | |
| ChVector3d | m_sentinel |
| position of sentinel point in global frame | |
| ChVector3d | m_target |
| position of target point in global frame | |
| 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
◆ ChPathSteeringControllerXT() [1/2]
| chrono::vehicle::ChPathSteeringControllerXT::ChPathSteeringControllerXT | ( | std::shared_ptr< ChBezierCurve > | path, |
| double | max_wheel_turn_angle = 0.0 |
||
| ) |
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.
◆ ChPathSteeringControllerXT() [2/2]
| chrono::vehicle::ChPathSteeringControllerXT::ChPathSteeringControllerXT | ( | const std::string & | filename, |
| std::shared_ptr< ChBezierCurve > | path, | ||
| double | max_wheel_turn_angle = 0.0 |
||
| ) |
Construct a steering controller to track the specified path.
This version reads controller gains and lookahead distance from the specified JSON file.
Member Function Documentation
◆ 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()
|
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_vehicle/utils/ChSteeringController.h
- /builds/uwsbel/chrono/src/chrono_vehicle/utils/ChSteeringController.cpp
