autoware::drivers::vehicle_interface::StateMachineConfig Class Reference

Configuration class for SafetyStateMachine. More...

#include <safety_state_machine.hpp>

Public Types
using	VelocityT = decltype(Odometry::velocity_mps)
using	AccelT = decltype(BasicControlCommand::long_accel_mps2)
using	AccelLimits = Limits< AccelT >
using	FrontWheelLimits = Limits< decltype(BasicControlCommand::front_wheel_angle_rad)>

Public Member Functions
	StateMachineConfig (const VelocityT gear_shift_velocity_threshold, const AccelLimits &accel_limits, const FrontWheelLimits &front_wheel_limits, const std::chrono::nanoseconds time_step, const AccelT timeout_accel_mps2, const std::chrono::nanoseconds state_transition_timeout, const AccelT auto_gear_shift_accel_deadzone_mps2)
VelocityT	gear_shift_velocity_threshold () const noexcept
const AccelLimits &	accel_limits () const noexcept
const FrontWheelLimits &	front_wheel_limits () const noexcept
std::chrono::nanoseconds	time_step () const noexcept
AccelT	timeout_acceleration () const noexcept
std::chrono::nanoseconds	state_transition_timeout () const noexcept
AccelT	auto_gear_shift_accel_deadzone () const noexcept

Detailed Description

Configuration class for SafetyStateMachine.

Member Typedef Documentation

AccelLimits

using autoware::drivers::vehicle_interface::StateMachineConfig::AccelLimits = Limits<AccelT>

AccelT

using autoware::drivers::vehicle_interface::StateMachineConfig::AccelT = decltype(BasicControlCommand::long_accel_mps2)

FrontWheelLimits

using autoware::drivers::vehicle_interface::StateMachineConfig::FrontWheelLimits = Limits<decltype(BasicControlCommand::front_wheel_angle_rad)>

VelocityT

using autoware::drivers::vehicle_interface::StateMachineConfig::VelocityT = decltype(Odometry::velocity_mps)

Constructor & Destructor Documentation

StateMachineConfig()

autoware::drivers::vehicle_interface::StateMachineConfig::StateMachineConfig	(	const VelocityT	gear_shift_velocity_threshold,
		const AccelLimits &	accel_limits,
		const FrontWheelLimits &	front_wheel_limits,
		const std::chrono::nanoseconds	time_step,
		const AccelT	timeout_accel_mps2,
		const std::chrono::nanoseconds	state_transition_timeout,
		const AccelT	auto_gear_shift_accel_deadzone_mps2
	)

Constructor

Parameters

[in]	gear_shift_velocity_threshold	Gear shifts between directions (i.e. park->drive, low->reverse are allowed only if the magnitude of velocity is below this threshold. Must be positive
[in]	accel_limits	Max/min value for command acceleration
[in]	front_wheel_limits	Max/min value for commanded wheel angles
[in]	time_step	Characteristic time step of the system: used for computing timeout acceleration commands and when to do autonomous gear shifting. Must be postiive
[in]	timeout_accel_mps2	Magnitude of acceleration to use to bring the vehicle to a stop when the vehicle interface has timed out. Must be positive
[in]	state_transition_timeout	If a state component has not changed within this period, then a warning is raised. Must be positive and bigger than time_step.
[in]	auto_gear_shift_accel_deadzone_mps2	Acceleration must be bigger than this magnitude to induce an automatic gear shift. Must be positive.

Exceptions

std::domain_error	If gear_shift_velocity_threshold is negative
std::domain_error	If time_step is non-positive
std::domain_error	If timeout_accel_mps2 is non-positive, or outside of accel_limits
std::domain_error	If state_transition_timeout is smaller than time_step
std::domain_error	If auto_gear_shift_accel_deadzone_mps2 is non-positive

Member Function Documentation

accel_limits()

const StateMachineConfig::AccelLimits & autoware::drivers::vehicle_interface::StateMachineConfig::accel_limits ( ) const

noexcept

auto_gear_shift_accel_deadzone()

StateMachineConfig::AccelT autoware::drivers::vehicle_interface::StateMachineConfig::auto_gear_shift_accel_deadzone ( ) const

noexcept

front_wheel_limits()

const StateMachineConfig::FrontWheelLimits & autoware::drivers::vehicle_interface::StateMachineConfig::front_wheel_limits ( ) const

noexcept

gear_shift_velocity_threshold()

StateMachineConfig::VelocityT autoware::drivers::vehicle_interface::StateMachineConfig::gear_shift_velocity_threshold ( ) const

noexcept

state_transition_timeout()

std::chrono::nanoseconds autoware::drivers::vehicle_interface::StateMachineConfig::state_transition_timeout ( ) const

noexcept

time_step()

std::chrono::nanoseconds autoware::drivers::vehicle_interface::StateMachineConfig::time_step ( ) const

noexcept

timeout_acceleration()

StateMachineConfig::AccelT autoware::drivers::vehicle_interface::StateMachineConfig::timeout_acceleration ( ) const

noexcept

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

• safety_state_machine.hpp
• safety_state_machine.cpp