ControlSolver Class Reference

Base class for control solvers, that calculate both lateral and longitudinal control commands. More...

#include <base_control_solver.hpp>

Inheritance diagram for ControlSolver:

Collaboration diagram for ControlSolver:

Public Member Functions
virtual void	path_callback (const custom_interfaces::msg::PathPointArray &msg)=0
	Called when a new path is sent by Path Planning.
virtual void	vehicle_state_callback (const custom_interfaces::msg::Velocities &msg)=0
	Called when the car state (currently just velocity) is updated.
virtual void	vehicle_pose_callback (const custom_interfaces::msg::Pose &msg)=0
	Called when the car pose is updated by SLAM.
virtual common_lib::structures::ControlCommand	get_control_command ()=0
	Returns the control command calculated by the solver.
virtual void	publish_solver_data (std::shared_ptr< rclcpp::Node > node, std::map< std::string, std::shared_ptr< rclcpp::PublisherBase > > &publisher_map)=0
	Publishes solver specific data using the provided ControlNode.
	ControlSolver (const ControlParameters &params)
virtual	~ControlSolver ()=default

Protected Attributes
std::shared_ptr< ControlParameters >	params_

Detailed Description

Base class for control solvers, that calculate both lateral and longitudinal control commands.

Definition at line 13 of file base_control_solver.hpp.

Constructor & Destructor Documentation

ControlSolver()

ControlSolver::ControlSolver ( const ControlParameters &  params )

inline

Definition at line 45 of file base_control_solver.hpp.

~ControlSolver()

virtual ControlSolver::~ControlSolver ( )

virtualdefault

Member Function Documentation

get_control_command()

virtual common_lib::structures::ControlCommand ControlSolver::get_control_command ( )

pure virtual

Returns the control command calculated by the solver.

Implemented in DecoupledController.

path_callback()

virtual void ControlSolver::path_callback ( const custom_interfaces::msg::PathPointArray &  msg )

pure virtual

Called when a new path is sent by Path Planning.

Implemented in DecoupledController.

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publish_solver_data()

virtual void ControlSolver::publish_solver_data ( std::shared_ptr< rclcpp::Node >  node, std::map< std::string, std::shared_ptr< rclcpp::PublisherBase > > &  publisher_map  )

pure virtual

Publishes solver specific data using the provided ControlNode.

Parameters

node	shared pointer to the ControlNode
publisher_map	map of topic names to publisher pointers

Implemented in DecoupledController.

vehicle_pose_callback()

virtual void ControlSolver::vehicle_pose_callback ( const custom_interfaces::msg::Pose &  msg )

pure virtual

Called when the car pose is updated by SLAM.

Implemented in DecoupledController.

vehicle_state_callback()

virtual void ControlSolver::vehicle_state_callback ( const custom_interfaces::msg::Velocities &  msg )

pure virtual

Called when the car state (currently just velocity) is updated.

Implemented in DecoupledController.

Member Data Documentation

params_

std::shared_ptr<ControlParameters> ControlSolver::params_

protected

Definition at line 15 of file base_control_solver.hpp.

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

• src/control/include/control_solver/base_control_solver.hpp