#include <AckermannController.h>

Collaboration diagram for FAckermannController:

Public Member Functions
void	ApplySettings (const FAckermannControllerSettings &Settings)

	FAckermannController ()=default

FAckermannControllerSettings	GetSettings () const

void	Reset ()

void	RunLoop (FVehicleControl &Control)

void	SetTargetPoint (const FVehicleAckermannControl &AckermannControl)

void	UpdateVehiclePhysics (const ACarlaWheeledVehicle *Vehicle)

void	UpdateVehicleState (const ACarlaWheeledVehicle *Vehicle)

	~FAckermannController ()

Private Member Functions
void	RunControlAcceleration ()

bool	RunControlFullStop ()

void	RunControlReverse ()

void	RunControlSpeed ()

void	RunControlSteering ()

void	UpdateVehicleControlCommand ()

Private Attributes
float	AccelControlPedalDelta = 0.0f

float	AccelControlPedalTarget = 0.0f

PID	AccelerationController = PID(0.01f, 0.0f, 0.01f)

float	Brake = 0.0f

bool	bReverse = false

float	DeltaTime = 0.0f

float	LastVehicleAcceleration = 0.0f

float	LastVehicleSpeed = 0.0f

float	MaxAccel = 3.0f

float	MaxDecel = 8.0f

float	SpeedControlAccelDelta = 0.0f

float	SpeedControlAccelTarget = 0.0f

PID	SpeedController = PID(0.15f, 0.0f, 0.25f)

float	Steer = 0.0f

float	TargetAcceleration = 0.0

float	TargetJerk = 0.0

float	TargetSpeed = 0.0

float	TargetSteer = 0.0

float	TargetSteerSpeed = 0.0

float	Throttle = 0.0f

FVehicleAckermannControl	UserTargetPoint

float	VehicleAcceleration = 0.0f

float	VehicleMaxSteering = 0.0f

float	VehicleSpeed = 0.0f

float	VehicleSteer = 0.0f

Detailed Description

Definition at line 81 of file AckermannController.h.

Constructor & Destructor Documentation

◆ FAckermannController()

FAckermannController::FAckermannController ( )

default

◆ ~FAckermannController()

FAckermannController::~FAckermannController ( )

Definition at line 14 of file AckermannController.cpp.

Member Function Documentation

◆ ApplySettings()

void FAckermannController::ApplySettings ( const FAckermannControllerSettings & Settings )

Definition at line 34 of file AckermannController.cpp.

References AccelerationController, FAckermannControllerSettings::AccelKd, FAckermannControllerSettings::AccelKi, FAckermannControllerSettings::AccelKp, PID::Kd, PID::Ki, PID::Kp, SpeedController, FAckermannControllerSettings::SpeedKd, FAckermannControllerSettings::SpeedKi, and FAckermannControllerSettings::SpeedKp.

◆ GetSettings()

FAckermannControllerSettings FAckermannController::GetSettings ( ) const

Definition at line 20 of file AckermannController.cpp.

References AccelerationController, FAckermannControllerSettings::AccelKd, FAckermannControllerSettings::AccelKi, FAckermannControllerSettings::AccelKp, PID::Kd, PID::Ki, PID::Kp, SpeedController, FAckermannControllerSettings::SpeedKd, FAckermannControllerSettings::SpeedKi, and FAckermannControllerSettings::SpeedKp.

◆ Reset()

void FAckermannController::Reset ( void )

Definition at line 55 of file AckermannController.cpp.

References AccelControlPedalDelta, AccelControlPedalTarget, AccelerationController, Brake, bReverse, LastVehicleAcceleration, LastVehicleSpeed, PID::Reset(), SpeedControlAccelDelta, SpeedControlAccelTarget, SpeedController, Steer, Throttle, VehicleAcceleration, and VehicleSpeed.

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◆ RunControlAcceleration()

void FAckermannController::RunControlAcceleration ( )

private

Definition at line 169 of file AckermannController.cpp.

References AccelControlPedalDelta, AccelControlPedalTarget, AccelerationController, DeltaTime, PID::Run(), PID::SetTargetPoint(), SpeedControlAccelTarget, and VehicleAcceleration.

Referenced by RunLoop().

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◆ RunControlFullStop()

bool FAckermannController::RunControlFullStop ( )

private

Definition at line 117 of file AckermannController.cpp.

References Brake, FVehicleAckermannControl::Speed, Throttle, UserTargetPoint, and VehicleSpeed.

Referenced by RunLoop().

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◆ RunControlReverse()

void FAckermannController::RunControlReverse ( )

private

Definition at line 129 of file AckermannController.cpp.

References bReverse, FVehicleAckermannControl::Speed, TargetSpeed, UserTargetPoint, and VehicleSpeed.

Referenced by RunLoop().

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◆ RunControlSpeed()

void FAckermannController::RunControlSpeed ( )

private

Definition at line 152 of file AckermannController.cpp.

References DeltaTime, MaxAccel, MaxDecel, PID::Run(), PID::SetTargetPoint(), SpeedControlAccelDelta, SpeedControlAccelTarget, SpeedController, TargetAcceleration, TargetSpeed, and VehicleSpeed.

Referenced by RunLoop().

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◆ RunControlSteering()

void FAckermannController::RunControlSteering ( )

private

Definition at line 102 of file AckermannController.cpp.

References DeltaTime, Steer, TargetSteer, TargetSteerSpeed, and VehicleSteer.

Referenced by RunLoop().

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◆ RunLoop()

void FAckermannController::RunLoop ( FVehicleControl & Control )

Definition at line 80 of file AckermannController.cpp.

References FVehicleControl::Brake, Brake, FVehicleControl::bReverse, bReverse, RunControlAcceleration(), RunControlFullStop(), RunControlReverse(), RunControlSpeed(), RunControlSteering(), FVehicleControl::Steer, Steer, FVehicleControl::Throttle, Throttle, UpdateVehicleControlCommand(), and VehicleMaxSteering.

Referenced by ACarlaWheeledVehicle::FlushVehicleControl().

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◆ SetTargetPoint()

void FAckermannController::SetTargetPoint ( const FVehicleAckermannControl & AckermannControl )

Definition at line 44 of file AckermannController.cpp.

References FVehicleAckermannControl::Acceleration, FVehicleAckermannControl::Jerk, FVehicleAckermannControl::Speed, FVehicleAckermannControl::Steer, FVehicleAckermannControl::SteerSpeed, TargetAcceleration, TargetJerk, TargetSpeed, TargetSteer, TargetSteerSpeed, UserTargetPoint, and VehicleMaxSteering.

◆ UpdateVehicleControlCommand()

void FAckermannController::UpdateVehicleControlCommand ( )

private

Definition at line 179 of file AckermannController.cpp.

References AccelControlPedalTarget, Brake, bReverse, and Throttle.

Referenced by RunLoop().

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◆ UpdateVehiclePhysics()

void FAckermannController::UpdateVehiclePhysics ( const ACarlaWheeledVehicle * Vehicle )

Definition at line 217 of file AckermannController.cpp.

References ACarlaWheeledVehicle::GetMaximumSteerAngle(), and VehicleMaxSteering.

Referenced by ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(), and ACarlaWheeledVehicle::BeginPlay().

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◆ UpdateVehicleState()

void FAckermannController::UpdateVehicleState ( const ACarlaWheeledVehicle * Vehicle )

Definition at line 200 of file AckermannController.cpp.

References DeltaTime, ACarlaWheeledVehicle::GetVehicleControl(), ACarlaWheeledVehicle::GetVehicleForwardSpeed(), LastVehicleAcceleration, LastVehicleSpeed, FVehicleControl::Steer, VehicleAcceleration, VehicleMaxSteering, VehicleSpeed, and VehicleSteer.

Referenced by ACarlaWheeledVehicle::FlushVehicleControl().

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Member Data Documentation

◆ AccelControlPedalDelta

float FAckermannController::AccelControlPedalDelta = 0.0f

private

Definition at line 141 of file AckermannController.h.

Referenced by Reset(), and RunControlAcceleration().

◆ AccelControlPedalTarget

float FAckermannController::AccelControlPedalTarget = 0.0f

private

Definition at line 142 of file AckermannController.h.

Referenced by Reset(), RunControlAcceleration(), and UpdateVehicleControlCommand().

◆ AccelerationController

PID FAckermannController::AccelerationController = PID(0.01f, 0.0f, 0.01f)

private

Definition at line 116 of file AckermannController.h.

Referenced by ApplySettings(), GetSettings(), Reset(), and RunControlAcceleration().

◆ Brake

float FAckermannController::Brake = 0.0f

private

Definition at line 134 of file AckermannController.h.

Referenced by Reset(), RunControlFullStop(), RunLoop(), and UpdateVehicleControlCommand().

◆ bReverse

bool FAckermannController::bReverse = false

private

Definition at line 135 of file AckermannController.h.

Referenced by Reset(), RunControlReverse(), RunLoop(), and UpdateVehicleControlCommand().

◆ DeltaTime

float FAckermannController::DeltaTime = 0.0f

private

Definition at line 145 of file AckermannController.h.

Referenced by RunControlAcceleration(), RunControlSpeed(), RunControlSteering(), and UpdateVehicleState().

◆ LastVehicleAcceleration

float FAckermannController::LastVehicleAcceleration = 0.0f

private

Definition at line 155 of file AckermannController.h.

Referenced by Reset(), and UpdateVehicleState().

◆ LastVehicleSpeed

float FAckermannController::LastVehicleSpeed = 0.0f

private

Definition at line 154 of file AckermannController.h.

Referenced by Reset(), and UpdateVehicleState().

◆ MaxAccel

float FAckermannController::MaxAccel = 3.0f

private

Definition at line 128 of file AckermannController.h.

Referenced by RunControlSpeed().

◆ MaxDecel

float FAckermannController::MaxDecel = 8.0f

private

Definition at line 129 of file AckermannController.h.

Referenced by RunControlSpeed().

◆ SpeedControlAccelDelta

float FAckermannController::SpeedControlAccelDelta = 0.0f

private

Definition at line 138 of file AckermannController.h.

Referenced by Reset(), and RunControlSpeed().

◆ SpeedControlAccelTarget

float FAckermannController::SpeedControlAccelTarget = 0.0f

private

Definition at line 139 of file AckermannController.h.

Referenced by Reset(), RunControlAcceleration(), and RunControlSpeed().

◆ SpeedController

PID FAckermannController::SpeedController = PID(0.15f, 0.0f, 0.25f)

private

Definition at line 115 of file AckermannController.h.

Referenced by ApplySettings(), GetSettings(), Reset(), and RunControlSpeed().

◆ Steer

float FAckermannController::Steer = 0.0f

private

Definition at line 132 of file AckermannController.h.

Referenced by Reset(), RunControlSteering(), and RunLoop().

◆ TargetAcceleration

float FAckermannController::TargetAcceleration = 0.0

private

Definition at line 124 of file AckermannController.h.

Referenced by RunControlSpeed(), and SetTargetPoint().

◆ TargetJerk

float FAckermannController::TargetJerk = 0.0

private

Definition at line 125 of file AckermannController.h.

Referenced by SetTargetPoint().

◆ TargetSpeed

float FAckermannController::TargetSpeed = 0.0

private

Definition at line 123 of file AckermannController.h.

Referenced by RunControlReverse(), RunControlSpeed(), and SetTargetPoint().

◆ TargetSteer

float FAckermannController::TargetSteer = 0.0

private

Definition at line 121 of file AckermannController.h.

Referenced by RunControlSteering(), and SetTargetPoint().

◆ TargetSteerSpeed

float FAckermannController::TargetSteerSpeed = 0.0

private

Definition at line 122 of file AckermannController.h.

Referenced by RunControlSteering(), and SetTargetPoint().

◆ Throttle

float FAckermannController::Throttle = 0.0f

private

Definition at line 133 of file AckermannController.h.

Referenced by Reset(), RunControlFullStop(), RunLoop(), and UpdateVehicleControlCommand().

◆ UserTargetPoint

FVehicleAckermannControl FAckermannController::UserTargetPoint

private

Definition at line 118 of file AckermannController.h.

Referenced by RunControlFullStop(), RunControlReverse(), and SetTargetPoint().

◆ VehicleAcceleration

float FAckermannController::VehicleAcceleration = 0.0f

private

Definition at line 152 of file AckermannController.h.

Referenced by Reset(), RunControlAcceleration(), and UpdateVehicleState().

◆ VehicleMaxSteering

float FAckermannController::VehicleMaxSteering = 0.0f

private

Definition at line 148 of file AckermannController.h.

Referenced by RunLoop(), SetTargetPoint(), UpdateVehiclePhysics(), and UpdateVehicleState().

◆ VehicleSpeed

float FAckermannController::VehicleSpeed = 0.0f

private

Definition at line 151 of file AckermannController.h.

Referenced by Reset(), RunControlFullStop(), RunControlReverse(), RunControlSpeed(), and UpdateVehicleState().

◆ VehicleSteer

float FAckermannController::VehicleSteer = 0.0f

private

Definition at line 150 of file AckermannController.h.

Referenced by RunControlSteering(), and UpdateVehicleState().

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FAckermannController()

◆ ~FAckermannController()

Member Function Documentation

◆ ApplySettings()

◆ GetSettings()

◆ Reset()

◆ RunControlAcceleration()

◆ RunControlFullStop()

◆ RunControlReverse()

◆ RunControlSpeed()

◆ RunControlSteering()

◆ RunLoop()

◆ SetTargetPoint()

◆ UpdateVehicleControlCommand()

◆ UpdateVehiclePhysics()

◆ UpdateVehicleState()

Member Data Documentation

◆ AccelControlPedalDelta

◆ AccelControlPedalTarget

◆ AccelerationController

◆ Brake

◆ bReverse

◆ DeltaTime

◆ LastVehicleAcceleration

◆ LastVehicleSpeed

◆ MaxAccel

◆ MaxDecel

◆ SpeedControlAccelDelta

◆ SpeedControlAccelTarget

◆ SpeedController

◆ Steer

◆ TargetAcceleration

◆ TargetJerk

◆ TargetSpeed

◆ TargetSteer

◆ TargetSteerSpeed

◆ Throttle

◆ UserTargetPoint

◆ VehicleAcceleration

◆ VehicleMaxSteering

◆ VehicleSpeed

◆ VehicleSteer