chrono::vehicle::ChSpeedController Class Referenceabstract
Description
Base class for a speed controller.
Data collection from a 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 <ChSpeedController.h>
Inheritance diagram for chrono::vehicle::ChSpeedController:
Collaboration diagram for chrono::vehicle::ChSpeedController:
Public Member Functions | |
| virtual | ~ChSpeedController () |
| Destructor. | |
| double | GetCurrentSpeed () const |
| Return the current speed. | |
| void | Reset (const ChFrameMoving<> &ref_frame) |
| Reset the speed controller. | |
| double | Advance (const ChFrameMoving<> &ref_frame, double target_speed, double time, double step) |
| Advance the state of the speed controller. | |
| 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 Member Functions | |
| virtual void | OnReset (const ChFrameMoving<> &ref_frame)=0 |
| Reset the PID controller. | |
| virtual double | OnAdvance (const ChFrameMoving<> &ref_frame, double target_speed, double time, double step)=0 |
| Advance the state of the PID controller. More... | |
Protected Attributes | |
| double | m_speed |
| current vehicle speed | |
| double | m_err |
| current error (signed distance to target point) | |
| double | m_errd |
| error derivative | |
| double | m_erri |
| integral of error | |
| ChWriterCSV * | m_csv |
| ChWriterCSV object for data collection. | |
| bool | m_collect |
| flag indicating whether or not data is being collected | |
Member Function Documentation
◆ OnAdvance()
|
protectedpure virtual |
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/ChSpeedController.h
- /builds/uwsbel/chrono/src/chrono_vehicle/utils/ChSpeedController.cpp
