Description
Classes | |
| class | chrono::vehicle::ChAdaptiveSpeedController |
| Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More... | |
| class | chrono::vehicle::ChSpeedController |
| Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More... | |
| class | chrono::vehicle::ChSteeringController |
| Base class for all steering path-following PID controllers. More... | |
| class | chrono::vehicle::ChPathSteeringController |
| Path-following steering PID controller. More... | |
| class | chrono::vehicle::ChPathSteeringControllerXT |
| Path-following steering 3(2) channel PDT1/PT1 controller. More... | |
Functions | |
| chrono::vehicle::ChPathSteeringControllerSR (std::shared_ptr< ChBezierCurve > path, bool isClosedPath=false, double max_wheel_turn_angle=0.0, double axle_space=2.5) | |
| Path-following steering P-like controller with variable path prediction. | |
| chrono::vehicle::ChPathSteeringControllerSR (const std::string &filename, std::shared_ptr< ChBezierCurve > path, bool isClosedPath=false, double max_wheel_turn_angle=0.0, double axle_space=2.5) | |
| Construct a steering controller to track the specified path. | |
| void | chrono::vehicle::SetGains (double Klat=0.1, double Kug=0.0) |
| void | chrono::vehicle::SetPreviewTime (double Tp=0.5) |
| virtual double | chrono::vehicle::Advance (const ChFrameMoving<> &ref_frame, double time, double step) override |
| Advance the state of the SR controller. | |
| virtual void | chrono::vehicle::Reset (const ChFrameMoving<> &ref_frame) override |
| Reset the PID controller. | |
| virtual void | chrono::vehicle::CalcTargetLocation () override |
| Calculate the current target point location. | |
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.
◆ ChPathSteeringControllerSR() [1/2]
| chrono::vehicle::ChPathSteeringControllerSR::ChPathSteeringControllerSR | ( | const std::string & | filename, |
| std::shared_ptr< ChBezierCurve > | path, | ||
| bool | isClosedPath = false, | ||
| double | max_wheel_turn_angle = 0.0, | ||
| double | axle_space = 2.5 ) |
Construct a steering controller to track the specified path.
This version reads controller gains and lookahead distance from the specified JSON file.
◆ ChPathSteeringControllerSR() [2/2]
| chrono::vehicle::ChPathSteeringControllerSR::ChPathSteeringControllerSR | ( | std::shared_ptr< ChBezierCurve > | path, |
| bool | isClosedPath = false, | ||
| double | max_wheel_turn_angle = 0.0, | ||
| double | axle_space = 2.5 ) |
Path-following steering P-like controller with variable path prediction.
The algorithm is from: M.C. Best, "A simple realistic driver model," AVEC `12: The 11th International Symposium on Advanced Vehicle Control, 9th-12th September 2012, Seoul, Korea. The path to be followed is specified as a ChBezierCurve object and the the original definition points are extracted automatically. Open and closed course definitions can be handled. The ChBezier is still used for visualization. */ class CH_VEHICLE_API ChPathSteeringControllerSR : public ChSteeringController { public: /** 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.
◆ Reset()
|
overridevirtual |
Reset the PID controller.
This function resets the underlying path tracker using the current location of the sentinel point.
