PIDController.h File Reference

#include <algorithm>
#include <cmath>
#include "carla/trafficmanager/Constants.h"
#include "carla/trafficmanager/DataStructures.h"

Go to the source code of this file.

Namespaces
namespace	carla
	This file contains definitions of common data structures used in traffic manager.
namespace	carla::traffic_manager
namespace	carla::traffic_manager::PID

Functions
float	carla::traffic_manager::PID::RelativeVelocityDeviation (const float reference_velocity, const float vehicle_speed, const float target_velocity)
	The target is exactly zero behind a stopped vehicle; the floor avoids a 0/0 NaN that the derivative term would turn into a NaN steering command.
ActuationSignal	carla::traffic_manager::PID::RunStep (StateEntry present_state, StateEntry previous_state, const std::vector< float > &longitudinal_parameters, const std::vector< float > &lateral_parameters, const float vehicle_speed, const float control_dt=DT, const float lateral_pursuit_steer=0.0f, const float lateral_damping_scale=1.0f, const float steer_authority_correction=1.0f)
	This function calculates the actuation signals based on the resent state change of the vehicle to minimize PID error.
float	carla::traffic_manager::PID::ShapeReferenceVelocity (const float previous_reference, const float vehicle_speed, const float target_velocity, const float control_dt, const bool emergency_stop)
	Reference speed that closes on target_velocity at COMFORT_ACCELERATION instead of stepping to it.
void	carla::traffic_manager::PID::SmoothActuation (const StateEntry &previous_state, const float control_dt, const float vehicle_speed, ActuationSignal &actuation_signal)
	A zero pedal demand bypasses the deadband, so pedals rest exactly at zero and nothing here delays a deceleration.