scenario_simulator_v2 C++ API
Public Member Functions | List of all members
SimModelDelaySteerAcc Class Reference

#include <sim_model_delay_steer_acc.hpp>

Inheritance diagram for SimModelDelaySteerAcc:
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Public Member Functions

 SimModelDelaySteerAcc (double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, double steer_time_constant, double steer_dead_band, double debug_acc_scaling_factor, double debug_steer_scaling_factor)
 constructor More...
 
 ~SimModelDelaySteerAcc ()=default
 default destructor More...
 
- Public Member Functions inherited from SimModelInterface
 SimModelInterface (int dim_x, int dim_u)
 constructor More...
 
 ~SimModelInterface ()=default
 destructor More...
 
void getState (Eigen::VectorXd &state)
 get state vector of model More...
 
void getInput (Eigen::VectorXd &input)
 get input vector of model More...
 
void setState (const Eigen::VectorXd &state)
 set state vector of model More...
 
void setInput (const Eigen::VectorXd &input)
 set input vector of model More...
 
void setGear (const uint8_t gear)
 set gear More...
 
void updateRungeKutta (const double &dt, const Eigen::VectorXd &input)
 update vehicle states with Runge-Kutta methods More...
 
void updateEuler (const double &dt, const Eigen::VectorXd &input)
 update vehicle states with Euler methods More...
 
uint8_t getGear () const
 get vehicle gear More...
 
int getDimX ()
 get state vector dimension More...
 
int getDimU ()
 get input vector dimension More...
 

Additional Inherited Members

- Protected Attributes inherited from SimModelInterface
const int dim_x_
 dimension of state x More...
 
const int dim_u_
 dimension of input u More...
 
Eigen::VectorXd state_
 vehicle state vector More...
 
Eigen::VectorXd input_
 vehicle input vector More...
 
uint8_t gear_ = autoware_auto_vehicle_msgs::msg::GearCommand::DRIVE
 

Constructor & Destructor Documentation

◆ SimModelDelaySteerAcc()

SimModelDelaySteerAcc::SimModelDelaySteerAcc ( double  vx_lim,
double  steer_lim,
double  vx_rate_lim,
double  steer_rate_lim,
double  wheelbase,
double  dt,
double  acc_delay,
double  acc_time_constant,
double  steer_delay,
double  steer_time_constant,
double  steer_dead_band,
double  debug_acc_scaling_factor,
double  debug_steer_scaling_factor 
)

constructor

Parameters
[in]vx_limvelocity limit [m/s]
[in]steer_limsteering limit [rad]
[in]vx_rate_limacceleration limit [m/ss]
[in]steer_rate_limsteering angular velocity limit [rad/ss]
[in]wheelbasevehicle wheelbase length [m]
[in]dtdelta time information to set input buffer for delay
[in]acc_delaytime delay for accel command [s]
[in]acc_time_constanttime constant for 1D model of accel dynamics
[in]steer_delaytime delay for steering command [s]
[in]steer_time_constanttime constant for 1D model of steering dynamics
[in]steer_dead_banddead band for steering angle [rad]
[in]debug_acc_scaling_factorscaling factor for accel command
[in]debug_steer_scaling_factorscaling factor for steering command

◆ ~SimModelDelaySteerAcc()

SimModelDelaySteerAcc::~SimModelDelaySteerAcc ( )
default

default destructor


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