Inheritance diagram for SimModelDelaySteerAcc:

Collaboration diagram for SimModelDelaySteerAcc:

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_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_lim	velocity limit [m/s]
[in]	steer_lim	steering limit [rad]
[in]	vx_rate_lim	acceleration limit [m/ss]
[in]	steer_rate_lim	steering angular velocity limit [rad/ss]
[in]	wheelbase	vehicle wheelbase length [m]
[in]	dt	delta time information to set input buffer for delay
[in]	acc_delay	time delay for accel command [s]
[in]	acc_time_constant	time constant for 1D model of accel dynamics
[in]	steer_delay	time delay for steering command [s]
[in]	steer_time_constant	time constant for 1D model of steering dynamics
[in]	steer_dead_band	dead band for steering angle [rad]
[in]	debug_acc_scaling_factor	scaling factor for accel command
[in]	debug_steer_scaling_factor	scaling factor for steering command

SimModelDelaySteerAcc::~SimModelDelaySteerAcc ( )

default

default destructor

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

simulation/simple_sensor_simulator/include/simple_sensor_simulator/vehicle_simulation/vehicle_model/sim_model_delay_steer_acc.hpp
simulation/simple_sensor_simulator/src/vehicle_simulation/vehicle_model/sim_model_delay_steer_acc.cpp