carla::traffic_manager::PID Namespace Reference

Functions
ActuationSignal	RunStep (StateEntry present_state, StateEntry previous_state, const std::vector< float > &longitudinal_parameters, const std::vector< float > &lateral_parameters)
	This function calculates the actuation signals based on the resent state change of the vehicle to minimize PID error. More...

Function Documentation

RunStep()

ActuationSignal carla::traffic_manager::PID::RunStep ( StateEntry  present_state, StateEntry  previous_state, const std::vector< float > &  longitudinal_parameters, const std::vector< float > &  lateral_parameters  )

inline

This function calculates the actuation signals based on the resent state change of the vehicle to minimize PID error.

Definition at line 27 of file PIDController.h.

References carla::traffic_manager::StateEntry::angular_deviation, carla::traffic_manager::constants::PID::DT, carla::traffic_manager::constants::PID::INV_DT, carla::traffic_manager::constants::PID::MAX_BRAKE, carla::traffic_manager::constants::PID::MAX_STEERING, carla::traffic_manager::constants::PID::MAX_STEERING_DIFF, carla::traffic_manager::constants::PID::MAX_THROTTLE, min(), carla::traffic_manager::StateEntry::steer, and carla::traffic_manager::StateEntry::velocity_deviation.

Referenced by carla::traffic_manager::MotionPlanStage::Update().

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