CARLA: carla::agents::navigation::PIDLongitudinalController Class Reference

CARLA

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Longitudinal PID controller. More...

#include <PIDController.h>

Public Member Functions
void	ChangeParameters (float K_P, float K_I, float K_D, float dt)

	PIDLongitudinalController (SharedPtr< client::Vehicle > vehicle, float K_P=1.0f, float K_I=0.0f, float K_D=0.0f, float dt=0.03f)

float	RunStep (float target_speed_kmh, bool debug=false)
	Returns the throttle/brake command (clamped to [-1, 1]).

Private Member Functions
float	PidControl (float target_speed_kmh, float current_speed_kmh)

Private Attributes
float	_dt

std::deque< float >	_error_buffer

float	_k_d

float	_k_i

float	_k_p

SharedPtr< client::Vehicle >	_vehicle

Detailed Description

Longitudinal PID controller.

Mirrors agents.navigation.controller.PIDLongitudinalController.

Definition at line 25 of file agents/navigation/PIDController.h.

Constructor & Destructor Documentation

◆ PIDLongitudinalController()

carla::agents::navigation::PIDLongitudinalController::PIDLongitudinalController	(	SharedPtr< client::Vehicle >	vehicle,
		float	K_P = `1.0f`,
		float	K_I = `0.0f`,
		float	K_D = `0.0f`,
		float	dt = `0.03f`
	)

Definition at line 42 of file PIDController.cpp.

Member Function Documentation

◆ ChangeParameters()

void carla::agents::navigation::PIDLongitudinalController::ChangeParameters	(	float	K_P,
		float	K_I,
		float	K_D,
		float	dt
	)

Definition at line 78 of file PIDController.cpp.

References _dt, _k_d, _k_i, and _k_p.

Referenced by carla::agents::navigation::VehiclePIDController::ChangeLongitudinalPID().

◆ PidControl()

float carla::agents::navigation::PIDLongitudinalController::PidControl	(	float	target_speed_kmh,
		float	current_speed_kmh
	)

private

Definition at line 59 of file PIDController.cpp.

References _dt, _error_buffer, _k_d, _k_i, and _k_p.

Referenced by RunStep().

◆ RunStep()

float carla::agents::navigation::PIDLongitudinalController::RunStep	(	float	target_speed_kmh,
		bool	debug = `false`
	)

Returns the throttle/brake command (clamped to [-1, 1]).

Definition at line 51 of file PIDController.cpp.

References _vehicle, carla::agents::navigation::GetSpeed(), and PidControl().

Referenced by carla::agents::navigation::VehiclePIDController::RunStep().

Member Data Documentation

◆ _dt

float carla::agents::navigation::PIDLongitudinalController::_dt

private

Definition at line 46 of file agents/navigation/PIDController.h.

Referenced by ChangeParameters(), and PidControl().

◆ _error_buffer

std::deque<float> carla::agents::navigation::PIDLongitudinalController::_error_buffer

private

Definition at line 47 of file agents/navigation/PIDController.h.

Referenced by PidControl().

◆ _k_d

float carla::agents::navigation::PIDLongitudinalController::_k_d

private

Definition at line 45 of file agents/navigation/PIDController.h.

Referenced by ChangeParameters(), and PidControl().

◆ _k_i

float carla::agents::navigation::PIDLongitudinalController::_k_i

private

Definition at line 44 of file agents/navigation/PIDController.h.

Referenced by ChangeParameters(), and PidControl().

◆ _k_p

float carla::agents::navigation::PIDLongitudinalController::_k_p

private

Definition at line 43 of file agents/navigation/PIDController.h.

Referenced by ChangeParameters(), and PidControl().

◆ _vehicle

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

private

Definition at line 42 of file agents/navigation/PIDController.h.

Referenced by RunStep().

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