Pure Pursuit class. More...

#include <pure_pursuit.hpp>

Inheritance diagram for PurePursuit:

Collaboration diagram for PurePursuit:

Public Member Functions
	PurePursuit (const ControlParameters &params)
	Construct a new Pure Pursuit object.

void	path_callback (const custom_interfaces::msg::PathPointArray &msg) override
	Called when a new path is sent by Path Planning.

void	vehicle_state_callback (const custom_interfaces::msg::Velocities &msg) override
	Called when the car state (currently just velocity) is updated.

void	vehicle_pose_callback (const custom_interfaces::msg::Pose &msg) override
	Called when the car pose is updated by SLAM.

double	get_steering_command () override
	Returns the steering command calculated by the solver.

void	publish_solver_data (std::shared_ptr< rclcpp::Node > node, std::map< std::string, std::shared_ptr< rclcpp::PublisherBase > > &publisher_map) override
	Publishes solver specific data using the provided ControlNode.

double	pp_steering_control_law (common_lib::structures::Position rear_axis, common_lib::structures::Position cg, common_lib::structures::Position lookahead_point, double dist_cg_2_rear_axis)
	Pure Pursuit control law.

double	calculate_alpha (common_lib::structures::Position vehicle_rear_wheel, common_lib::structures::Position vehicle_cg, common_lib::structures::Position lookahead_point, double rear_wheel_2_c_g)
	Calculate alpha (angle between the vehicle and lookahead point)

	FRIEND_TEST (PurePursuitTests, Test_calculate_alpha_1)

	FRIEND_TEST (PurePursuitTests, Test_calculate_alpha_2)

	FRIEND_TEST (PurePursuitTests, Test_calculate_alpha_3)

	FRIEND_TEST (PurePursuitTests, Test_calculate_alpha_4)

	FRIEND_TEST (PurePursuitTests, Test_calculate_alpha_5)

	FRIEND_TEST (PurePursuitTests, Test_pp_steering_control_law_1)

Public Member Functions inherited from LateralController
	LateralController (const ControlParameters &params)

virtual	~LateralController ()=default

Private Member Functions
void	publish_closest_point (std::shared_ptr< rclcpp::Node > node, std::map< std::string, std::shared_ptr< rclcpp::PublisherBase > > &publisher_map)
	Function that publishes the closest point marker.

void	publish_lookahead_point (std::shared_ptr< rclcpp::Node > node, std::map< std::string, std::shared_ptr< rclcpp::PublisherBase > > &publisher_map)
	Function that publishes the lookahead point marker.

Private Attributes
std::shared_ptr< Filter >	lpf_

std::vector< custom_interfaces::msg::PathPoint >	last_path_msg_

custom_interfaces::msg::Velocities	last_velocity_msg_

custom_interfaces::msg::Pose	last_pose_msg_

double	absolute_velocity_ = 0.0

bool	received_first_path_ = false

bool	received_first_state_ = false

bool	received_first_pose_ = false

common_lib::structures::Position	closest_point_

common_lib::structures::Position	lookahead_point_

Additional Inherited Members
Protected Attributes inherited from LateralController
std::shared_ptr< ControlParameters >	params_

Detailed Description

Pure Pursuit class.

This class implements a Pure Pursuit controller. This assumes a bicycle model for the vehicle. The two main functions are:

Calculate the lookahead point
Calculate the steering angle (Pure Pursuit Control Law)

Definition at line 26 of file pure_pursuit.hpp.

Constructor & Destructor Documentation

◆ PurePursuit()

PurePursuit::PurePursuit ( const ControlParameters & params )

Construct a new Pure Pursuit object.

Pure Pursuit class Constructor.

Parameters

params Control parameters

Definition at line 9 of file pure_pursuit.cpp.

Member Function Documentation

◆ calculate_alpha()

double PurePursuit::calculate_alpha	(	common_lib::structures::Position	vehicle_rear_wheel,
		common_lib::structures::Position	vehicle_cg,
		common_lib::structures::Position	lookahead_point,
		double	rear_wheel_2_c_g
	)

Calculate alpha (angle between the vehicle and lookahead point)

Parameters

vehicle_rear_wheel
vehicle_cg
lookahead_point
dist_cg_2_rear_axis

Returns: double

Definition at line 72 of file pure_pursuit.cpp.

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◆ FRIEND_TEST() [1/6]

PurePursuit::FRIEND_TEST	(	PurePursuitTests	,
		Test_calculate_alpha_1
	)

◆ FRIEND_TEST() [2/6]

PurePursuit::FRIEND_TEST	(	PurePursuitTests	,
		Test_calculate_alpha_2
	)

◆ FRIEND_TEST() [3/6]

PurePursuit::FRIEND_TEST	(	PurePursuitTests	,
		Test_calculate_alpha_3
	)

◆ FRIEND_TEST() [4/6]

PurePursuit::FRIEND_TEST	(	PurePursuitTests	,
		Test_calculate_alpha_4
	)

◆ FRIEND_TEST() [5/6]

PurePursuit::FRIEND_TEST	(	PurePursuitTests	,
		Test_calculate_alpha_5
	)

◆ FRIEND_TEST() [6/6]

PurePursuit::FRIEND_TEST	(	PurePursuitTests	,
		Test_pp_steering_control_law_1
	)

◆ get_steering_command()

double PurePursuit::get_steering_command ( )

overridevirtual

Returns the steering command calculated by the solver.

Implements LateralController.

Definition at line 28 of file pure_pursuit.cpp.

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◆ path_callback()

void PurePursuit::path_callback ( const custom_interfaces::msg::PathPointArray & msg )

overridevirtual

Called when a new path is sent by Path Planning.

Implements LateralController.

Definition at line 12 of file pure_pursuit.cpp.

◆ pp_steering_control_law()

double PurePursuit::pp_steering_control_law	(	common_lib::structures::Position	rear_axis,
		common_lib::structures::Position	cg,
		common_lib::structures::Position	lookahead_point,
		double	dist_cg_2_rear_axis
	)

Pure Pursuit control law.

Parameters

rear_axis
cg	center of gravity
lookahead_point
dist_cg_2_rear_axis	distance between center of gravity and rear axis

Returns: Steering angle

Definition at line 59 of file pure_pursuit.cpp.

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◆ publish_closest_point()

void PurePursuit::publish_closest_point	(	std::shared_ptr< rclcpp::Node >	node,
		std::map< std::string, std::shared_ptr< rclcpp::PublisherBase > > &	publisher_map
	)

private

Function that publishes the closest point marker.

Parameters

node	pointer to the rclcpp node
publisher_map	map between topic names and publishers

Definition at line 97 of file pure_pursuit.cpp.

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◆ publish_lookahead_point()

void PurePursuit::publish_lookahead_point	(	std::shared_ptr< rclcpp::Node >	node,
		std::map< std::string, std::shared_ptr< rclcpp::PublisherBase > > &	publisher_map
	)

private

Function that publishes the lookahead point marker.

Parameters

node	pointer to the rclcpp node
publisher_map	map between topic names and publishers

Definition at line 109 of file pure_pursuit.cpp.

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◆ publish_solver_data()

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

overridevirtual

Publishes solver specific data using the provided ControlNode.

Parameters

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

Implements LateralController.

Definition at line 92 of file pure_pursuit.cpp.

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◆ vehicle_pose_callback()

void PurePursuit::vehicle_pose_callback ( const custom_interfaces::msg::Pose & msg )

overridevirtual

Called when the car pose is updated by SLAM.

Implements LateralController.

Definition at line 23 of file pure_pursuit.cpp.

◆ vehicle_state_callback()

void PurePursuit::vehicle_state_callback ( const custom_interfaces::msg::Velocities & msg )

overridevirtual

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

Implements LateralController.

Definition at line 17 of file pure_pursuit.cpp.

Member Data Documentation

◆ absolute_velocity_

double PurePursuit::absolute_velocity_ = 0.0

private

Definition at line 35 of file pure_pursuit.hpp.

◆ closest_point_

common_lib::structures::Position PurePursuit::closest_point_

private

Definition at line 43 of file pure_pursuit.hpp.

◆ last_path_msg_

std::vector<custom_interfaces::msg::PathPoint> PurePursuit::last_path_msg_

private

Definition at line 32 of file pure_pursuit.hpp.

◆ last_pose_msg_

custom_interfaces::msg::Pose PurePursuit::last_pose_msg_

private

Definition at line 34 of file pure_pursuit.hpp.

◆ last_velocity_msg_

custom_interfaces::msg::Velocities PurePursuit::last_velocity_msg_

private

Definition at line 33 of file pure_pursuit.hpp.

◆ lookahead_point_

common_lib::structures::Position PurePursuit::lookahead_point_

private

Definition at line 44 of file pure_pursuit.hpp.

◆ lpf_

std::shared_ptr<Filter> PurePursuit::lpf_

private

Definition at line 29 of file pure_pursuit.hpp.

◆ received_first_path_

bool PurePursuit::received_first_path_ = false

private

Definition at line 38 of file pure_pursuit.hpp.

◆ received_first_pose_

bool PurePursuit::received_first_pose_ = false

private

Definition at line 40 of file pure_pursuit.hpp.

◆ received_first_state_

bool PurePursuit::received_first_state_ = false

private

Definition at line 39 of file pure_pursuit.hpp.

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

src/control/include/lateral_controller/pure_pursuit.hpp
src/control/src/lateral_controller/pure_pursuit.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PurePursuit()

Member Function Documentation

◆ calculate_alpha()

◆ FRIEND_TEST() [1/6]

◆ FRIEND_TEST() [2/6]

◆ FRIEND_TEST() [3/6]

◆ FRIEND_TEST() [4/6]

◆ FRIEND_TEST() [5/6]

◆ FRIEND_TEST() [6/6]

◆ get_steering_command()

◆ path_callback()

◆ pp_steering_control_law()

◆ publish_closest_point()

◆ publish_lookahead_point()

◆ publish_solver_data()

◆ vehicle_pose_callback()

◆ vehicle_state_callback()

Member Data Documentation

◆ absolute_velocity_

◆ closest_point_

◆ last_path_msg_

◆ last_pose_msg_

◆ last_velocity_msg_

◆ lookahead_point_

◆ lpf_

◆ received_first_path_

◆ received_first_pose_

◆ received_first_state_