ackermann::Controller Class Reference

Implementation of a steering and speed controller for a rover with an Ackermann steering mechanism. More...

#include <Controller.hpp>

Public Member Functions
	Controller (const std::shared_ptr< const Params > &params)
	Constructor; constructs and initializes parameters of all composition classes. More...
void	start ()
	Begin execution of a control loop.
void	stop (bool block=false)
	Stop execution of a control loop and rejoin. This also calls reset() to clear any state variables. More...
void	reset ()
	Clear system state variables.
bool	isRunning () const
	Return true if the core execution thread is running. This is a useful utility for testing. More...
void	setState (const double speed, const double heading)
	Set the current state (speed, heading) of the system. More...
void	getState (double &speed, double &heading) const
	Get the current state (speed, heading) of the system; return as parameters specified. More...
void	setGoal (const double speed, const double heading)
	Set the current system setpoint (speed, heading). More...
void	getGoal (double &speed, double &heading) const
	Get the current system setpoint (speed, heading); return as parameters specified. More...
void	getCommand (double &throttle, double &steering) const
	Get the current system command (speed, heading); return as parameters specified. More...
void	getWheelLinVel (double &left_front, double &right_front, double &left_rear, double &right_rear) const
	Get the current system wheel speeds; return as parameters specified. More...

Detailed Description

Implementation of a steering and speed controller for a rover with an Ackermann steering mechanism.

Constructor & Destructor Documentation

Controller()

ackermann::Controller::Controller ( const std::shared_ptr< const Params > &  params )

explicit

Constructor; constructs and initializes parameters of all composition classes.

Parameters

params

Shared pointer detailing rover characteristic parameters

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Member Function Documentation

getCommand()

void ackermann::Controller::getCommand	(	double &	throttle,
		double &	steering
	)		const

Get the current system command (speed, heading); return as parameters specified.

This represents the main point of access for a polling architecture, i.e. an external control loop would periodically update the controller with the true system state and request command updates.

Parameters

throttle	The latest throttle command (limited between [0,1]).
steering	The latest steering angle command (rad).

getGoal()

void ackermann::Controller::getGoal	(	double &	speed,
		double &	heading
	)		const

Get the current system setpoint (speed, heading); return as parameters specified.

Parameters

heading	The current vehicle heading setpoint (rad).
speed	The current vehicle speed setpoint (m/s).

getState()

void ackermann::Controller::getState	(	double &	speed,
		double &	heading
	)		const

Get the current state (speed, heading) of the system; return as parameters specified.

Parameters

heading	The estimated vehicle heading (rad).
speed	The estimated vehicle speed (m/s).

getWheelLinVel()

void ackermann::Controller::getWheelLinVel	(	double &	left_front,
		double &	right_front,
		double &	left_rear,
		double &	right_rear
	)		const

Get the current system wheel speeds; return as parameters specified.

Parameters

left_front	The left front wheel velocity (m/s).
right_front	The right front wheel velocity (m/s).
left_rear	The left rear wheel velocity (m/s).
right_rear	The right rear wheel velocity (m/s).

isRunning()

bool ackermann::Controller::isRunning

(

)

const

Return true if the core execution thread is running. This is a useful utility for testing.

Returns

: Whether or not the core control loop is executing.

setGoal()

void ackermann::Controller::setGoal	(	const double	speed,
		const double	heading
	)

Set the current system setpoint (speed, heading).

This sets a new target for our control loop. Expected usage is to call this method before calling 'start', although concurrent execution is supported.

Parameters

heading	The desired vehicle heading (rad).
speed	The desired vehicle speed (m/s).

setState()

void ackermann::Controller::setState	(	const double	speed,
		const double	heading
	)

Set the current state (speed, heading) of the system.

This represents an update from external sensors as to our true system state. If this is not called the controller will continue open loop.

Parameters

heading	The actual vehicle heading (rad)
speed	The actual vehicle speed (m/s).

stop()

void ackermann::Controller::stop

(

bool

block = false

)

Stop execution of a control loop and rejoin. This also calls reset() to clear any state variables.

@ param block: Optionally wait for any running thread to rejoin. Default false.

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

• include/Controller.hpp
• app/Controller.cpp