autoware::common::reference_tracking_controller::ReferenceTrackerBase< T > Class Template Reference

#include <reference_tracking_controller.hpp>

Classes
struct	SignalWithDerivative
	A Pack of both the signal and it's derivative at some time step. More...

Public Member Functions
virtual	~ReferenceTrackerBase ()=default
	Virtual destructor. More...
virtual T	feedback (SignalWithDerivative reference, SignalWithDerivative observation)=0
T	feedback (T reference, SignalWithDerivative observation)
T	feedback (SignalWithDerivative reference, T observation)
T	feedback (T reference, T observation)

Detailed Description

template<typename T>
class autoware::common::reference_tracking_controller::ReferenceTrackerBase< T >

Interface class for 1D reference trackers

Template Parameters

T	A floating point type

Constructor & Destructor Documentation

~ReferenceTrackerBase()

template<typename T >

virtual autoware::common::reference_tracking_controller::ReferenceTrackerBase< T >::~ReferenceTrackerBase ( )

virtualdefault

Virtual destructor.

Member Function Documentation

feedback() [1/4]

template<typename T >

virtual T autoware::common::reference_tracking_controller::ReferenceTrackerBase< T >::feedback ( SignalWithDerivative  reference, SignalWithDerivative  observation  )

pure virtual

Primary API: given current reference and current observation (and derivatives), compute feedback control

Parameters

[in]	reference	The value being tracked, sometimes referred to as y
[in]	observation	The current observed value of the tracked value, sometimes referred to as z or o

Returns

The feedback value

feedback() [2/4]

template<typename T >

T autoware::common::reference_tracking_controller::ReferenceTrackerBase< T >::feedback ( SignalWithDerivative  reference, T  observation  )

inline

Primary API: given current reference and current observation (and derivatives), compute feedback control. Observation derivative is assumed to be zero

Parameters

[in]	reference	The value being tracked, sometimes referred to as y, with derivative
[in]	observation	The current observed value of the tracked value, sometimes referred to as z or o

Returns

The feedback value

feedback() [3/4]

template<typename T >

T autoware::common::reference_tracking_controller::ReferenceTrackerBase< T >::feedback ( T  reference, SignalWithDerivative  observation  )

inline

Primary API: given current reference and current observation (and derivatives), compute feedback control. Reference derivative is assumed to be 0

Parameters

[in]	reference	The value being tracked, sometimes referred to as y
[in]	observation	The current observed value of the tracked value, sometimes referred to as z or o, with derivative

Returns

The feedback value

feedback() [4/4]

template<typename T >

T autoware::common::reference_tracking_controller::ReferenceTrackerBase< T >::feedback ( T  reference, T  observation  )

inline

Primary API: given current reference and current observation, compute feedback control. All derivatives are assumed to be zero

Parameters

[in]	reference	The value being tracked, sometimes referred to as y
[in]	observation	The current observed value of the tracked value, sometimes referred to as z or o

Returns

The feedback value

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

• reference_tracking_controller.hpp