ackermann::Params Struct Reference

Structure containing rover characteristics and limitations. More...

#include <Params.hpp>

Public Member Functions
	Params (double wheel_base_, double track_width_, double max_steering_angle_, double kp_speed_, double kp_heading_)

Public Attributes
std::atomic< double >	control_frequency {100.0}
	Desired frequency of controller loop.
std::atomic< double >	velocity_max {10.0}
	Maximum allowable velocity of rover (m/s). Used with throttle command for speed calculation.
std::atomic< double >	velocity_min {0.0}
	Minimum allowable velocity of rover (m/s). Backwards driving not yet implemented, set to 0 m/s until implemented..
std::atomic< double >	acceleration_max {50.0}
	Maximum allowable acceleration of rover (m/s^2)
std::atomic< double >	acceleration_min {-50.0}
	Minimum allowable acceleration of rover (e.g., braking) (m/s^2)
std::atomic< double >	angular_velocity_max
	Maximum allowable (rightward) angular velocity of steering change (rad/s) More...
std::atomic< double >	angular_velocity_min
	Minimum allowable (leftward) angular velocity of steering change (rad/s) More...
std::atomic< double >	angular_acceleration_max
	Maximum allowable (rightward) angular acceleration of steering change (rad/s^2) More...
std::atomic< double >	angular_acceleration_min
	Minimum allowable (leftward) angular acceleration of steering change (rad/s^2) More...
std::atomic< double >	throttle_max {1.0}
	Maximum throttle setting - should set to 1.0.
std::atomic< double >	throttle_min {0.0}
	Minimum throttle setting - should set to 0.0.
const std::shared_ptr< PIDParams >	pid_speed
	Speed controller PID parameters.
const std::shared_ptr< PIDParams >	pid_heading
	Heading controller PID parameters.
std::atomic< double >	wheel_base
	Length between front and rear axles (m)
std::atomic< double >	track_width
	Width between left and right tires (m)
std::atomic< double >	max_steering_angle
	Maximum angle of steering mechanism (rad)

Detailed Description

Structure containing rover characteristics and limitations.

Member Data Documentation

angular_acceleration_max

std::atomic<double> ackermann::Params::angular_acceleration_max

Initial value:

{
    std::numeric_limits<double>::max()}

Maximum allowable (rightward) angular acceleration of steering change (rad/s^2)

angular_acceleration_min

std::atomic<double> ackermann::Params::angular_acceleration_min

Initial value:

{
    std::numeric_limits<double>::lowest()}

Minimum allowable (leftward) angular acceleration of steering change (rad/s^2)

angular_velocity_max

std::atomic<double> ackermann::Params::angular_velocity_max

Initial value:

{
    std::numeric_limits<double>::max()}

Maximum allowable (rightward) angular velocity of steering change (rad/s)

angular_velocity_min

std::atomic<double> ackermann::Params::angular_velocity_min

Initial value:

{
    std::numeric_limits<double>::lowest()}

Minimum allowable (leftward) angular velocity of steering change (rad/s)

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The documentation for this struct was generated from the following file:

• include/Params.hpp