LateralController Class Reference

Base (abstract) class for lateral control solvers (that calculate steering command) More...

#include <base_lateral_controller.hpp>

Inheritance diagram for LateralController:

Collaboration diagram for LateralController:

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 double	get_steering_command ()=0
	Returns the steering 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.
	LateralController (const ControlParameters &params)
virtual	~LateralController ()=default

Protected Attributes
std::shared_ptr< ControlParameters >	params_

Detailed Description

Base (abstract) class for lateral control solvers (that calculate steering command)

Definition at line 13 of file base_lateral_controller.hpp.

Constructor & Destructor Documentation

LateralController()

LateralController::LateralController ( const ControlParameters &  params )

inline

Definition at line 45 of file base_lateral_controller.hpp.

~LateralController()

virtual LateralController::~LateralController ( )

virtualdefault

Member Function Documentation

get_steering_command()

virtual double LateralController::get_steering_command ( )

pure virtual

Returns the steering command calculated by the solver.

Implemented in PurePursuit.

path_callback()

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

pure virtual

Called when a new path is sent by Path Planning.

Implemented in PurePursuit.

publish_solver_data()

virtual void LateralController::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 PurePursuit.

vehicle_pose_callback()

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

pure virtual

Called when the car pose is updated by SLAM.

Implemented in PurePursuit.

vehicle_state_callback()

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

pure virtual

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

Implemented in PurePursuit.

Member Data Documentation

params_

std::shared_ptr<ControlParameters> LateralController::params_

protected

Definition at line 15 of file base_lateral_controller.hpp.

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

• src/control/include/lateral_controller/base_lateral_controller.hpp