InspectionFunctions Class Reference

#include <inspection_functions.hpp>

Collaboration diagram for InspectionFunctions:

Public Member Functions
double	calculate_steering (double time) const
	calculate the steering angle according to time
double	calculate_throttle (double current_velocity) const
	calculate torque output according to velocity
double	rpm_to_velocity (double rpm) const
	convert rpm [rotations/minute] to velocity [m/s]
void	redefine_goal_velocity (double current_velocity)
	used when in oscilation mode to redefine the ideal velocity
double	throttle_to_adequate_range (double throttle) const
	convert the throttle to a range between -1 and 1
	InspectionFunctions ()
	Construct a new Inspection Functions object.
	InspectionFunctions (double max_angle, double turning_period, double wheel_radius, double finish_time, bool start_and_stop, double gain=0.0, double ideal_velocity=0.0)
	Construct a new Inspection Mission with constants to be defined by input.

Public Attributes
double	max_angle_ = MAX_ANGLE
double	ideal_velocity_ = 2.0
double	turning_period_ = 4.0
double	wheel_radius_ = 0.254
double	gain_ = 0.05
double	finish_time_ = 26.0
double	current_goal_velocity_ = 1.0
bool	start_and_stop_ = false
bool	stop_oscilating_ = false
	Used to stop the oscilation near zero and avoid violent wheel movements.

Detailed Description

Definition at line 15 of file inspection_functions.hpp.

Constructor & Destructor Documentation

InspectionFunctions() [1/2]

InspectionFunctions::InspectionFunctions ( )

default

Construct a new Inspection Functions object.

InspectionFunctions() [2/2]

InspectionFunctions::InspectionFunctions	(	double	max_angle,
		double	turning_period,
		double	wheel_radius,
		double	finish_time,
		bool	start_and_stop,
		double	gain = 0.0,
		double	ideal_velocity = 0.0
	)

Construct a new Inspection Mission with constants to be defined by input.

Parameters

max_angle	maximum turning angle for the wheels in the inspection script [rad]
ebs_test_ideal_velocity	ideal velocity of the wheels for the ebs test [m/s]
inspection_ideal_velocity	ideal velocity of the wheels for the inspection [m/s]
turning_period	time it takes for the wheels to turn in inspecion script [s]
wheel_radius	radius of the wheels of the car to estimate velocity [m]
inspection_gain	constant for the controller in the inspection
ebs_test_gain	constant for the controller in the ebs test
finish_time	time until the end of the program [s]
start_and_stop	whether to make the car accelerate and brake multiple times (true) or just once (false)

Definition at line 4 of file inspection_functions.cpp.

Member Function Documentation

calculate_steering()

double InspectionFunctions::calculate_steering

(

double

time

)

const

calculate the steering angle according to time

Parameters

time	in seconds

Returns

steering angle in radians

Definition at line 30 of file inspection_functions.cpp.

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calculate_throttle()

double InspectionFunctions::calculate_throttle

(

double

current_velocity

)

const

calculate torque output according to velocity

Parameters

velocity

Returns

double

Definition at line 24 of file inspection_functions.cpp.

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redefine_goal_velocity()

void InspectionFunctions::redefine_goal_velocity

(

double

current_velocity

)

used when in oscilation mode to redefine the ideal velocity

Parameters

current_velocity

[m/s]

Definition at line 41 of file inspection_functions.cpp.

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rpm_to_velocity()

double InspectionFunctions::rpm_to_velocity

(

double

rpm

)

const

convert rpm [rotations/minute] to velocity [m/s]

Parameters

rpm	rotations per minute

Returns

velocity [m/s]

Definition at line 19 of file inspection_functions.cpp.

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throttle_to_adequate_range()

double InspectionFunctions::throttle_to_adequate_range

(

double

throttle

)

const

convert the throttle to a range between -1 and 1

Parameters

throttle

original throttle value

Returns

double throttle value between -1 and 1

Definition at line 34 of file inspection_functions.cpp.

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Member Data Documentation

current_goal_velocity_

double InspectionFunctions::current_goal_velocity_ = 1.0

Definition at line 24 of file inspection_functions.hpp.

finish_time_

double InspectionFunctions::finish_time_ = 26.0

Definition at line 23 of file inspection_functions.hpp.

gain_

double InspectionFunctions::gain_ = 0.05

Definition at line 22 of file inspection_functions.hpp.

ideal_velocity_

double InspectionFunctions::ideal_velocity_ = 2.0

Definition at line 19 of file inspection_functions.hpp.

max_angle_

double InspectionFunctions::max_angle_ = MAX_ANGLE

Definition at line 18 of file inspection_functions.hpp.

start_and_stop_

bool InspectionFunctions::start_and_stop_ = false

Definition at line 25 of file inspection_functions.hpp.

stop_oscilating_

bool InspectionFunctions::stop_oscilating_ = false

Used to stop the oscilation near zero and avoid violent wheel movements.

Definition at line 28 of file inspection_functions.hpp.

turning_period_

double InspectionFunctions::turning_period_ = 4.0

Definition at line 20 of file inspection_functions.hpp.

wheel_radius_

double InspectionFunctions::wheel_radius_ = 0.254

Definition at line 21 of file inspection_functions.hpp.

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

• src/inspection/include/functions/inspection_functions.hpp
• src/inspection/src/functions/inspection_functions.cpp