CARLA: carla::agents::navigation::VehiclePIDController Class Reference

CARLA

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Combined longitudinal + lateral PID controller. More...

#include <PIDController.h>

Classes
struct	LateralArgs

struct	LongitudinalArgs

Public Member Functions
void	ChangeLateralPID (const LateralArgs &args)

void	ChangeLongitudinalPID (const LongitudinalArgs &args)

rpc::VehicleControl	RunStep (float target_speed_kmh, SharedPtr< client::Waypoint > wp)
	Drives towards wp at target_speed_kmh and returns the resulting VehicleControl.

void	SetOffset (float offset)

	VehiclePIDController (SharedPtr< client::Vehicle > vehicle, const LateralArgs &lateral, const LongitudinalArgs &longitudinal, float offset=0.0f, float max_throttle=0.75f, float max_brake=0.30f, float max_steering=0.80f)

Private Attributes
PIDLateralController	_lat_controller

PIDLongitudinalController	_lon_controller

float	_max_brake

float	_max_steering

float	_max_throttle

float	_past_steering

SharedPtr< client::Vehicle >	_vehicle

Detailed Description

Combined longitudinal + lateral PID controller.

Mirrors agents.navigation.controller.VehiclePIDController.

Definition at line 80 of file agents/navigation/PIDController.h.

Constructor & Destructor Documentation

◆ VehiclePIDController()

carla::agents::navigation::VehiclePIDController::VehiclePIDController	(	SharedPtr< client::Vehicle >	vehicle,
		const LateralArgs &	lateral,
		const LongitudinalArgs &	longitudinal,
		float	offset = `0.0f`,
		float	max_throttle = `0.75f`,
		float	max_brake = `0.30f`,
		float	max_steering = `0.80f`
	)

Definition at line 179 of file PIDController.cpp.

Member Function Documentation

◆ ChangeLateralPID()

void carla::agents::navigation::VehiclePIDController::ChangeLateralPID ( const LateralArgs & args )

Definition at line 238 of file PIDController.cpp.

References _lat_controller, carla::agents::navigation::PIDLateralController::ChangeParameters(), carla::agents::navigation::VehiclePIDController::LateralArgs::dt, carla::agents::navigation::VehiclePIDController::LateralArgs::K_D, carla::agents::navigation::VehiclePIDController::LateralArgs::K_I, and carla::agents::navigation::VehiclePIDController::LateralArgs::K_P.

◆ ChangeLongitudinalPID()

void carla::agents::navigation::VehiclePIDController::ChangeLongitudinalPID ( const LongitudinalArgs & args )

Definition at line 234 of file PIDController.cpp.

References _lon_controller, carla::agents::navigation::PIDLongitudinalController::ChangeParameters(), carla::agents::navigation::VehiclePIDController::LongitudinalArgs::dt, carla::agents::navigation::VehiclePIDController::LongitudinalArgs::K_D, carla::agents::navigation::VehiclePIDController::LongitudinalArgs::K_I, and carla::agents::navigation::VehiclePIDController::LongitudinalArgs::K_P.

◆ RunStep()

rpc::VehicleControl carla::agents::navigation::VehiclePIDController::RunStep	(	float	target_speed_kmh,
		SharedPtr< client::Waypoint >	wp
	)

Drives towards wp at target_speed_kmh and returns the resulting VehicleControl.

Steering rate is rate-limited the same way as the Python original (delta clamped to +-0.1 per step).

Definition at line 197 of file PIDController.cpp.

References _lat_controller, _lon_controller, _max_brake, _max_steering, _max_throttle, _past_steering, carla::rpc::VehicleControl::brake, carla::rpc::VehicleControl::hand_brake, carla::rpc::VehicleControl::manual_gear_shift, carla::agents::navigation::PIDLongitudinalController::RunStep(), carla::agents::navigation::PIDLateralController::RunStep(), carla::rpc::VehicleControl::steer, and carla::rpc::VehicleControl::throttle.

◆ SetOffset()

void carla::agents::navigation::VehiclePIDController::SetOffset ( float offset )

Definition at line 242 of file PIDController.cpp.

References _lat_controller, and carla::agents::navigation::PIDLateralController::SetOffset().

Member Data Documentation

◆ _lat_controller

PIDLateralController carla::agents::navigation::VehiclePIDController::_lat_controller

private

Definition at line 123 of file agents/navigation/PIDController.h.

Referenced by ChangeLateralPID(), RunStep(), and SetOffset().

◆ _lon_controller

PIDLongitudinalController carla::agents::navigation::VehiclePIDController::_lon_controller

private

Definition at line 122 of file agents/navigation/PIDController.h.

Referenced by ChangeLongitudinalPID(), and RunStep().

◆ _max_brake

float carla::agents::navigation::VehiclePIDController::_max_brake

private

Definition at line 119 of file agents/navigation/PIDController.h.

Referenced by RunStep().

◆ _max_steering

float carla::agents::navigation::VehiclePIDController::_max_steering

private

Definition at line 120 of file agents/navigation/PIDController.h.

Referenced by RunStep().

◆ _max_throttle

float carla::agents::navigation::VehiclePIDController::_max_throttle

private

Definition at line 118 of file agents/navigation/PIDController.h.

Referenced by RunStep().

◆ _past_steering

float carla::agents::navigation::VehiclePIDController::_past_steering

private

Definition at line 121 of file agents/navigation/PIDController.h.

Referenced by RunStep().

◆ _vehicle

SharedPtr<client::Vehicle> carla::agents::navigation::VehiclePIDController::_vehicle

private

Definition at line 117 of file agents/navigation/PIDController.h.

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