chrono::vehicle::ChSpeedController Class Reference


Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired.

Data collected so far can be written to a file. The tab-separated output ASCII file contains on each line the time, current desired speed, and current actual speed.

#include <ChSpeedController.h>

Collaboration diagram for chrono::vehicle::ChSpeedController:

Public Member Functions

 ChSpeedController ()
 Construct a speed controller with default parameters. More...
 ChSpeedController (const std::string &filename)
 Construct a steering controller with parameters read from a JSON file.
virtual ~ChSpeedController ()
void SetGains (double Kp, double Ki, double Kd)
 Set the gains for the PID controller.
double GetCurrentSpeed () const
 Return the current speed.
void Reset (const ChFrameMoving<> &ref_frame)
 Reset the PID controller.
double Advance (const ChFrameMoving<> &ref_frame, double target_speed, double time, double step)
 Advance the state of the PID controller. More...
void StartDataCollection ()
 Start/restart data collection.
void StopDataCollection ()
 Suspend/stop data collection.
bool IsDataCollectionEnabled () const
 Return true if data is being collected.
bool IsDataAvailable () const
 Return true if data is available for output.
void WriteOutputFile (const std::string &filename)
 Output data collected so far to the specified file.

Protected Attributes

double m_speed
 current vehicle speed
double m_Kp
double m_Ki
 PID controller gains.
double m_Kd
double m_err
 current error (signed distance to target point)
double m_errd
 error derivative
double m_erri
 integral of error
 ChWriterCSV object for data collection.
bool m_collect
 flag indicating whether or not data is being collected

Constructor & Destructor Documentation

◆ ChSpeedController()

chrono::vehicle::ChSpeedController::ChSpeedController ( )

Construct a speed controller with default parameters.

Default values are all gains set to zero (no controller). The user is responsible for calling SetGains.

Member Function Documentation

◆ Advance()

double chrono::vehicle::ChSpeedController::Advance ( const ChFrameMoving<> &  ref_frame,
double  target_speed,
double  time,
double  step 

Advance the state of the PID controller.

This function performs the required integration for the integral component of the PID controller and returns the calculated controller value.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/utils/ChSpeedController.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/utils/ChSpeedController.cpp