autoware::motion::control::trajectory_follower::VehicleModelInterface Class Reference

calculate model-related values More...

#include <vehicle_model_interface.hpp>

Inheritance diagram for autoware::motion::control::trajectory_follower::VehicleModelInterface:

Collaboration diagram for autoware::motion::control::trajectory_follower::VehicleModelInterface:

Public Member Functions
	VehicleModelInterface (int64_t dim_x, int64_t dim_u, int64_t dim_y, float64_t wheelbase)
	constructor More...
virtual	~VehicleModelInterface ()=default
	destructor More...
int64_t	getDimX ()
	get state x dimension More...
int64_t	getDimU ()
	get input u dimension More...
int64_t	getDimY ()
	get output y dimension More...
float64_t	getWheelbase ()
	get wheelbase of the vehicle More...
void	setVelocity (const float64_t velocity)
	set velocity More...
void	setCurvature (const float64_t curvature)
	set curvature More...
virtual void	calculateDiscreteMatrix (Eigen::MatrixXd &a_d, Eigen::MatrixXd &b_d, Eigen::MatrixXd &c_d, Eigen::MatrixXd &w_d, const float64_t dt)=0
	calculate discrete model matrix of x_k+1 = a_d * xk + b_d * uk + w_d, yk = c_d * xk More...
virtual void	calculateReferenceInput (Eigen::MatrixXd &u_ref)=0
	calculate reference input More...

Protected Attributes
const int64_t	m_dim_x
	dimension of state x More...
const int64_t	m_dim_u
	dimension of input u More...
const int64_t	m_dim_y
	dimension of output y More...
float64_t	m_velocity
	vehicle velocity [m/s] More...
float64_t	m_curvature
	curvature on the linearized point on path More...
float64_t	m_wheelbase
	wheelbase of the vehicle [m] More...

Detailed Description

calculate model-related values

Vehicle model class

Constructor & Destructor Documentation

VehicleModelInterface()

autoware::motion::control::trajectory_follower::VehicleModelInterface::VehicleModelInterface	(	int64_t	dim_x,
		int64_t	dim_u,
		int64_t	dim_y,
		float64_t	wheelbase
	)

constructor

Parameters

[in]	dim_x	dimension of state x
[in]	dim_u	dimension of input u
[in]	dim_y	dimension of output y
[in]	wheelbase	wheelbase of the vehicle [m]

~VehicleModelInterface()

virtual autoware::motion::control::trajectory_follower::VehicleModelInterface::~VehicleModelInterface ( )

virtualdefault

destructor

Member Function Documentation

calculateDiscreteMatrix()

virtual void autoware::motion::control::trajectory_follower::VehicleModelInterface::calculateDiscreteMatrix ( Eigen::MatrixXd &  a_d, Eigen::MatrixXd &  b_d, Eigen::MatrixXd &  c_d, Eigen::MatrixXd &  w_d, const float64_t  dt  )

pure virtual

calculate discrete model matrix of x_k+1 = a_d * xk + b_d * uk + w_d, yk = c_d * xk

Parameters

[out]	a_d	coefficient matrix
[out]	b_d	coefficient matrix
[out]	c_d	coefficient matrix
[out]	w_d	coefficient matrix
[in]	dt	Discretization time [s]

Implemented in autoware::motion::control::trajectory_follower::DynamicsBicycleModel, autoware::motion::control::trajectory_follower::KinematicsBicycleModel, and autoware::motion::control::trajectory_follower::KinematicsBicycleModelNoDelay.

calculateReferenceInput()

virtual void autoware::motion::control::trajectory_follower::VehicleModelInterface::calculateReferenceInput ( Eigen::MatrixXd &  u_ref )

pure virtual

calculate reference input

Parameters

[out]

u_ref

input

Implemented in autoware::motion::control::trajectory_follower::DynamicsBicycleModel, autoware::motion::control::trajectory_follower::KinematicsBicycleModel, and autoware::motion::control::trajectory_follower::KinematicsBicycleModelNoDelay.

getDimU()

int64_t autoware::motion::control::trajectory_follower::VehicleModelInterface::getDimU

(

)

get input u dimension

Returns

input dimension

getDimX()

int64_t autoware::motion::control::trajectory_follower::VehicleModelInterface::getDimX

(

)

get state x dimension

Returns

state dimension

getDimY()

int64_t autoware::motion::control::trajectory_follower::VehicleModelInterface::getDimY

(

)

get output y dimension

Returns

output dimension

getWheelbase()

float64_t autoware::motion::control::trajectory_follower::VehicleModelInterface::getWheelbase

(

)

get wheelbase of the vehicle

Returns

wheelbase value [m]

setCurvature()

void autoware::motion::control::trajectory_follower::VehicleModelInterface::setCurvature

(

const float64_t

curvature

)

set curvature

Parameters

[in]

curvature

curvature on the linearized point on path

setVelocity()

void autoware::motion::control::trajectory_follower::VehicleModelInterface::setVelocity

(

const float64_t

velocity

)

set velocity

Parameters

[in]

velocity

vehicle velocity

Member Data Documentation

m_curvature

float64_t autoware::motion::control::trajectory_follower::VehicleModelInterface::m_curvature

protected

curvature on the linearized point on path

m_dim_u

const int64_t autoware::motion::control::trajectory_follower::VehicleModelInterface::m_dim_u

protected

dimension of input u

m_dim_x

const int64_t autoware::motion::control::trajectory_follower::VehicleModelInterface::m_dim_x

protected

dimension of state x

m_dim_y

const int64_t autoware::motion::control::trajectory_follower::VehicleModelInterface::m_dim_y

protected

dimension of output y

m_velocity

float64_t autoware::motion::control::trajectory_follower::VehicleModelInterface::m_velocity

protected

vehicle velocity [m/s]

m_wheelbase

float64_t autoware::motion::control::trajectory_follower::VehicleModelInterface::m_wheelbase

protected

wheelbase of the vehicle [m]

---

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

• vehicle_model_interface.hpp
• vehicle_model_interface.cpp