PIDSteeringMotor Class Reference

#include <pid_steering_motor.hpp>

Inheritance diagram for PIDSteeringMotor:

Collaboration diagram for PIDSteeringMotor:

Public Member Functions
	PIDSteeringMotor (const common_lib::car_parameters::CarParameters &car_parameters)
double	compute_steering_rate (double current_steering, double steering_goal) override
	Computes the change in steering angle based on PID control.
Public Member Functions inherited from SteeringMotorModel
	SteeringMotorModel (const common_lib::car_parameters::CarParameters &car_parameters)

Private Attributes
double	integral_ = 0.0
double	previous_error_ = 0.0
rclcpp::Time	last_update = rclcpp::Time(0, 0)

Additional Inherited Members
Protected Attributes inherited from SteeringMotorModel
std::shared_ptr< common_lib::car_parameters::CarParameters >	car_parameters_

Detailed Description

Definition at line 7 of file pid_steering_motor.hpp.

Constructor & Destructor Documentation

PIDSteeringMotor()

PIDSteeringMotor::PIDSteeringMotor ( const common_lib::car_parameters::CarParameters &  car_parameters )

inline

Definition at line 14 of file pid_steering_motor.hpp.

Member Function Documentation

compute_steering_rate()

double PIDSteeringMotor::compute_steering_rate ( double  current_steering, double  steering_goal  )

overridevirtual

Computes the change in steering angle based on PID control.

Parameters

current_steering	current steering angle in radians
steering_goal	desired steering angle in radians

Returns

double change in steering angle in radians

Implements SteeringMotorModel.

Definition at line 3 of file pid_steering_motor.cpp.

Member Data Documentation

integral_

double PIDSteeringMotor::integral_ = 0.0

private

Definition at line 9 of file pid_steering_motor.hpp.

last_update

rclcpp::Time PIDSteeringMotor::last_update = rclcpp::Time(0, 0)

private

Definition at line 11 of file pid_steering_motor.hpp.

previous_error_

double PIDSteeringMotor::previous_error_ = 0.0

private

Definition at line 10 of file pid_steering_motor.hpp.

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

• src/motion_lib/include/motion_lib/steering_motor_model/pid_steering_motor.hpp
• src/motion_lib/src/steering_motor_model/pid_steering_motor.cpp