calculate delay steering dynamics More...

Inheritance diagram for SimModelDelaySteerVel:

Collaboration diagram for SimModelDelaySteerVel:

Public Member Functions
	SimModelDelaySteerVel (double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double vx_delay, double vx_time_constant, double steer_delay, double steer_time_constant, double steer_dead_band)
	constructor More...

	~SimModelDelaySteerVel ()=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

Detailed Description

calculate delay steering dynamics

Constructor & Destructor Documentation

SimModelDelaySteerVel::SimModelDelaySteerVel	(	double	vx_lim,
		double	steer_lim,
		double	vx_rate_lim,
		double	steer_rate_lim,
		double	wheelbase,
		double	dt,
		double	vx_delay,
		double	vx_time_constant,
		double	steer_delay,
		double	steer_time_constant,
		double	steer_dead_band
	)

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]	vx_delay	time delay for velocity command [s]
[in]	vx_time_constant	time constant for 1D model of velocity 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]

SimModelDelaySteerVel::~SimModelDelaySteerVel ( )

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_vel.hpp
simulation/simple_sensor_simulator/src/vehicle_simulation/vehicle_model/sim_model_delay_steer_vel.cpp