CARLA: carla::agents::navigation::PIDLateralController Class Reference

CARLA

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Lateral PID controller. More...

#include <PIDController.h>

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

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

float	RunStep (SharedPtr< client::Waypoint > waypoint)
	Returns a steering command in the range [-1, 1].

void	SetOffset (float offset)

Private Attributes
float	_dt

std::deque< float >	_e_buffer

float	_k_d

float	_k_i

float	_k_p

float	_offset

SharedPtr< client::Vehicle >	_vehicle

Detailed Description

Lateral PID controller.

Mirrors agents.navigation.controller.PIDLateralController.

Definition at line 52 of file agents/navigation/PIDController.h.

Constructor & Destructor Documentation

◆ PIDLateralController()

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

Definition at line 90 of file PIDController.cpp.

Member Function Documentation

◆ ChangeParameters()

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

Definition at line 167 of file PIDController.cpp.

References _dt, _k_d, _k_i, and _k_p.

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

◆ RunStep()

float carla::agents::navigation::PIDLateralController::RunStep ( SharedPtr< client::Waypoint > waypoint )

Returns a steering command in the range [-1, 1].

Definition at line 101 of file PIDController.cpp.

References _dt, _e_buffer, _k_d, _k_i, _k_p, _offset, _vehicle, carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

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

◆ SetOffset()

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

Definition at line 163 of file PIDController.cpp.

References _offset.

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

Member Data Documentation

◆ _dt

float carla::agents::navigation::PIDLateralController::_dt

private

Definition at line 73 of file agents/navigation/PIDController.h.

Referenced by ChangeParameters(), and RunStep().

◆ _e_buffer

std::deque<float> carla::agents::navigation::PIDLateralController::_e_buffer

private

Definition at line 75 of file agents/navigation/PIDController.h.

Referenced by RunStep().

◆ _k_d

float carla::agents::navigation::PIDLateralController::_k_d

private

Definition at line 72 of file agents/navigation/PIDController.h.

Referenced by ChangeParameters(), and RunStep().

◆ _k_i

float carla::agents::navigation::PIDLateralController::_k_i

private

Definition at line 71 of file agents/navigation/PIDController.h.

Referenced by ChangeParameters(), and RunStep().

◆ _k_p

float carla::agents::navigation::PIDLateralController::_k_p

private

Definition at line 70 of file agents/navigation/PIDController.h.

Referenced by ChangeParameters(), and RunStep().

◆ _offset

float carla::agents::navigation::PIDLateralController::_offset

private

Definition at line 74 of file agents/navigation/PIDController.h.

Referenced by RunStep(), and SetOffset().

◆ _vehicle

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

private

Definition at line 69 of file agents/navigation/PIDController.h.

Referenced by RunStep().

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