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<a href="_params_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <memory></span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <atomic></span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <limits></span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  </div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">namespace </span><a class="code" href="namespaceackermann.html">ackermann</a> {</div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structackermann_1_1_p_i_d_params.html"> 21</a></span> <span class="keyword">struct </span><a class="code" href="structackermann_1_1_p_i_d_params.html">PIDParams</a> {</div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structackermann_1_1_p_i_d_params.html#ac94fb3a31bae97e0a81be34d59c01e23"> 25</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_p_i_d_params.html#ac94fb3a31bae97e0a81be34d59c01e23">kp</a>;</div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structackermann_1_1_p_i_d_params.html#abfd61b70a679bcf4c8fdde0caaee3e55"> 29</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_p_i_d_params.html#abfd61b70a679bcf4c8fdde0caaee3e55">ki</a>;</div>
<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structackermann_1_1_p_i_d_params.html#afe64009f02585364c495db3e271cafaa"> 33</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_p_i_d_params.html#afe64009f02585364c495db3e271cafaa">kd</a>;</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="comment">// constructor</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structackermann_1_1_p_i_d_params.html#abc40fbe7129262423b702336914df26a"> 42</a></span> <span class="comment"></span> <span class="keyword">explicit</span> <a class="code" href="structackermann_1_1_p_i_d_params.html#abc40fbe7129262423b702336914df26a">PIDParams</a>(<span class="keywordtype">double</span> kp_ = 0.0, <span class="keywordtype">double</span> ki_ = 0.0, <span class="keywordtype">double</span> kd_ = 0.0)</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  : <a class="code" href="structackermann_1_1_p_i_d_params.html#ac94fb3a31bae97e0a81be34d59c01e23">kp</a>(kp_), <a class="code" href="structackermann_1_1_p_i_d_params.html#abfd61b70a679bcf4c8fdde0caaee3e55">ki</a>(ki_), <a class="code" href="structackermann_1_1_p_i_d_params.html#afe64009f02585364c495db3e271cafaa">kd</a>(kd_)</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  {};</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> };</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html"> 50</a></span> <span class="keyword">struct </span><a class="code" href="structackermann_1_1_params.html">Params</a> {</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a065f737848871356232ff7092baed140"> 54</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a065f737848871356232ff7092baed140">control_frequency</a> {100.0};</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#ab41d61361183158ea37d6c8577dcad82"> 59</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#ab41d61361183158ea37d6c8577dcad82">velocity_max</a> {10.0};</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#ad6c5babc5a52cf56d57ea664ca5a0c04"> 64</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#ad6c5babc5a52cf56d57ea664ca5a0c04">velocity_min</a> {0.0};</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a7273215906e350eb609b463398acbfba"> 68</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a7273215906e350eb609b463398acbfba">acceleration_max</a> {50.0};</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a9b8d3b799a556afb69f3f8acd0abfa66"> 72</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a9b8d3b799a556afb69f3f8acd0abfa66">acceleration_min</a> {-50.0};</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#aad93f5ef58bf87db04c9e21f3c1067ca"> 77</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#aad93f5ef58bf87db04c9e21f3c1067ca">angular_velocity_max</a> {</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  std::numeric_limits<double>::max()};</div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a20071280825a5dfdf0eba12fa45c6886"> 83</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a20071280825a5dfdf0eba12fa45c6886">angular_velocity_min</a> {</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  std::numeric_limits<double>::lowest()};</div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a69fd058a9c869f1db12b030a99f3141d"> 89</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a69fd058a9c869f1db12b030a99f3141d">angular_acceleration_max</a> {</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  std::numeric_limits<double>::max()};</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a5baf993ebf740d79eeb1e19e041ceb8e"> 95</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a5baf993ebf740d79eeb1e19e041ceb8e">angular_acceleration_min</a> {</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  std::numeric_limits<double>::lowest()};</div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a77e9e8355199625173a243b96963a543"> 100</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a77e9e8355199625173a243b96963a543">throttle_max</a> {1.0};</div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a105dda9186730914c63f6e39593d0e77"> 104</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a105dda9186730914c63f6e39593d0e77">throttle_min</a> {0.0};</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">// PID parameters</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#adcbcf331c428efc01e2be5da332b6e99"> 110</a></span> <span class="comment"></span> <span class="keyword">const</span> std::shared_ptr<PIDParams> <a class="code" href="structackermann_1_1_params.html#adcbcf331c428efc01e2be5da332b6e99">pid_speed</a>;</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#ab8ef5ea67822f187c7a03f94e20a24d0"> 114</a></span>  <span class="keyword">const</span> std::shared_ptr<PIDParams> <a class="code" href="structackermann_1_1_params.html#ab8ef5ea67822f187c7a03f94e20a24d0">pid_heading</a>;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="comment">// required parameters</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a68ecfa01510e295926dd23b1cfb1d83a"> 120</a></span> <span class="comment"></span> std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a68ecfa01510e295926dd23b1cfb1d83a">wheel_base</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a429093b21328bce330f930f55c1e3b3c"> 124</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a429093b21328bce330f930f55c1e3b3c">track_width</a>;</div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="structackermann_1_1_params.html#a7bfb774e679c8e5372ec512a62f5d0ce"> 128</a></span>  std::atomic<double> <a class="code" href="structackermann_1_1_params.html#a7bfb774e679c8e5372ec512a62f5d0ce">max_steering_angle</a>;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="comment">/* @brief Constructor */</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <a class="code" href="structackermann_1_1_params.html">Params</a>(<span class="keywordtype">double</span> wheel_base_,</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">double</span> track_width_,</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordtype">double</span> max_steering_angle_,</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordtype">double</span> kp_speed_,</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordtype">double</span> kp_heading_)</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  : <a class="code" href="structackermann_1_1_params.html#adcbcf331c428efc01e2be5da332b6e99">pid_speed</a>(std::make_shared<<a class="code" href="structackermann_1_1_p_i_d_params.html">PIDParams</a>>(kp_speed_)),</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="structackermann_1_1_params.html#ab8ef5ea67822f187c7a03f94e20a24d0">pid_heading</a>(std::make_shared<<a class="code" href="structackermann_1_1_p_i_d_params.html">PIDParams</a>>(kp_heading_)),</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <a class="code" href="structackermann_1_1_params.html#a68ecfa01510e295926dd23b1cfb1d83a">wheel_base</a>(wheel_base_),</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <a class="code" href="structackermann_1_1_params.html#a429093b21328bce330f930f55c1e3b3c">track_width</a>(track_width_),</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <a class="code" href="structackermann_1_1_params.html#a7bfb774e679c8e5372ec512a62f5d0ce">max_steering_angle</a>(max_steering_angle_)</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  {}</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> };</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> } <span class="comment">// namespace ackermann</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="astructackermann_1_1_params_html_a5baf993ebf740d79eeb1e19e041ceb8e"><div class="ttname"><a href="structackermann_1_1_params.html#a5baf993ebf740d79eeb1e19e041ceb8e">ackermann::Params::angular_acceleration_min</a></div><div class="ttdeci">std::atomic< double > angular_acceleration_min</div><div class="ttdoc">Minimum allowable (leftward) angular acceleration of steering change (rad/s^2)</div><div class="ttdef"><b>Definition:</b> Params.hpp:95</div></div>
<div class="ttc" id="astructackermann_1_1_params_html"><div class="ttname"><a href="structackermann_1_1_params.html">ackermann::Params</a></div><div class="ttdoc">Structure containing rover characteristics and limitations.</div><div class="ttdef"><b>Definition:</b> Params.hpp:50</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_aad93f5ef58bf87db04c9e21f3c1067ca"><div class="ttname"><a href="structackermann_1_1_params.html#aad93f5ef58bf87db04c9e21f3c1067ca">ackermann::Params::angular_velocity_max</a></div><div class="ttdeci">std::atomic< double > angular_velocity_max</div><div class="ttdoc">Maximum allowable (rightward) angular velocity of steering change (rad/s)</div><div class="ttdef"><b>Definition:</b> Params.hpp:77</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_adcbcf331c428efc01e2be5da332b6e99"><div class="ttname"><a href="structackermann_1_1_params.html#adcbcf331c428efc01e2be5da332b6e99">ackermann::Params::pid_speed</a></div><div class="ttdeci">const std::shared_ptr< PIDParams > pid_speed</div><div class="ttdoc">Speed controller PID parameters.</div><div class="ttdef"><b>Definition:</b> Params.hpp:110</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_a065f737848871356232ff7092baed140"><div class="ttname"><a href="structackermann_1_1_params.html#a065f737848871356232ff7092baed140">ackermann::Params::control_frequency</a></div><div class="ttdeci">std::atomic< double > control_frequency</div><div class="ttdoc">Desired frequency of controller loop.</div><div class="ttdef"><b>Definition:</b> Params.hpp:54</div></div>
<div class="ttc" id="astructackermann_1_1_p_i_d_params_html"><div class="ttname"><a href="structackermann_1_1_p_i_d_params.html">ackermann::PIDParams</a></div><div class="ttdoc">Structure containing PID parameters.</div><div class="ttdef"><b>Definition:</b> Params.hpp:21</div></div>
<div class="ttc" id="anamespaceackermann_html"><div class="ttname"><a href="namespaceackermann.html">ackermann</a></div><div class="ttdoc">Namespace for Ackermann controller implementation.</div><div class="ttdef"><b>Definition:</b> Controller.cpp:14</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_a77e9e8355199625173a243b96963a543"><div class="ttname"><a href="structackermann_1_1_params.html#a77e9e8355199625173a243b96963a543">ackermann::Params::throttle_max</a></div><div class="ttdeci">std::atomic< double > throttle_max</div><div class="ttdoc">Maximum throttle setting - should set to 1.0.</div><div class="ttdef"><b>Definition:</b> Params.hpp:100</div></div>
<div class="ttc" id="astructackermann_1_1_p_i_d_params_html_afe64009f02585364c495db3e271cafaa"><div class="ttname"><a href="structackermann_1_1_p_i_d_params.html#afe64009f02585364c495db3e271cafaa">ackermann::PIDParams::kd</a></div><div class="ttdeci">std::atomic< double > kd</div><div class="ttdoc">Derivative parameter for PID controller.</div><div class="ttdef"><b>Definition:</b> Params.hpp:33</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_a7273215906e350eb609b463398acbfba"><div class="ttname"><a href="structackermann_1_1_params.html#a7273215906e350eb609b463398acbfba">ackermann::Params::acceleration_max</a></div><div class="ttdeci">std::atomic< double > acceleration_max</div><div class="ttdoc">Maximum allowable acceleration of rover (m/s^2)</div><div class="ttdef"><b>Definition:</b> Params.hpp:68</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_ad6c5babc5a52cf56d57ea664ca5a0c04"><div class="ttname"><a href="structackermann_1_1_params.html#ad6c5babc5a52cf56d57ea664ca5a0c04">ackermann::Params::velocity_min</a></div><div class="ttdeci">std::atomic< double > velocity_min</div><div class="ttdoc">Minimum allowable velocity of rover (m/s). Backwards driving not yet implemented, set to 0 m/s until ...</div><div class="ttdef"><b>Definition:</b> Params.hpp:64</div></div>
<div class="ttc" id="astructackermann_1_1_p_i_d_params_html_abc40fbe7129262423b702336914df26a"><div class="ttname"><a href="structackermann_1_1_p_i_d_params.html#abc40fbe7129262423b702336914df26a">ackermann::PIDParams::PIDParams</a></div><div class="ttdeci">PIDParams(double kp_=0.0, double ki_=0.0, double kd_=0.0)</div><div class="ttdoc">Constructor for PID Parameter structure.</div><div class="ttdef"><b>Definition:</b> Params.hpp:42</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_a9b8d3b799a556afb69f3f8acd0abfa66"><div class="ttname"><a href="structackermann_1_1_params.html#a9b8d3b799a556afb69f3f8acd0abfa66">ackermann::Params::acceleration_min</a></div><div class="ttdeci">std::atomic< double > acceleration_min</div><div class="ttdoc">Minimum allowable acceleration of rover (e.g., braking) (m/s^2)</div><div class="ttdef"><b>Definition:</b> Params.hpp:72</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_ab8ef5ea67822f187c7a03f94e20a24d0"><div class="ttname"><a href="structackermann_1_1_params.html#ab8ef5ea67822f187c7a03f94e20a24d0">ackermann::Params::pid_heading</a></div><div class="ttdeci">const std::shared_ptr< PIDParams > pid_heading</div><div class="ttdoc">Heading controller PID parameters.</div><div class="ttdef"><b>Definition:</b> Params.hpp:114</div></div>
<div class="ttc" id="astructackermann_1_1_p_i_d_params_html_abfd61b70a679bcf4c8fdde0caaee3e55"><div class="ttname"><a href="structackermann_1_1_p_i_d_params.html#abfd61b70a679bcf4c8fdde0caaee3e55">ackermann::PIDParams::ki</a></div><div class="ttdeci">std::atomic< double > ki</div><div class="ttdoc">Integral parameter for PID controller.</div><div class="ttdef"><b>Definition:</b> Params.hpp:29</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_a69fd058a9c869f1db12b030a99f3141d"><div class="ttname"><a href="structackermann_1_1_params.html#a69fd058a9c869f1db12b030a99f3141d">ackermann::Params::angular_acceleration_max</a></div><div class="ttdeci">std::atomic< double > angular_acceleration_max</div><div class="ttdoc">Maximum allowable (rightward) angular acceleration of steering change (rad/s^2)</div><div class="ttdef"><b>Definition:</b> Params.hpp:89</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_a7bfb774e679c8e5372ec512a62f5d0ce"><div class="ttname"><a href="structackermann_1_1_params.html#a7bfb774e679c8e5372ec512a62f5d0ce">ackermann::Params::max_steering_angle</a></div><div class="ttdeci">std::atomic< double > max_steering_angle</div><div class="ttdoc">Maximum angle of steering mechanism (rad)</div><div class="ttdef"><b>Definition:</b> Params.hpp:128</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_ab41d61361183158ea37d6c8577dcad82"><div class="ttname"><a href="structackermann_1_1_params.html#ab41d61361183158ea37d6c8577dcad82">ackermann::Params::velocity_max</a></div><div class="ttdeci">std::atomic< double > velocity_max</div><div class="ttdoc">Maximum allowable velocity of rover (m/s). Used with throttle command for speed calculation.</div><div class="ttdef"><b>Definition:</b> Params.hpp:59</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_a68ecfa01510e295926dd23b1cfb1d83a"><div class="ttname"><a href="structackermann_1_1_params.html#a68ecfa01510e295926dd23b1cfb1d83a">ackermann::Params::wheel_base</a></div><div class="ttdeci">std::atomic< double > wheel_base</div><div class="ttdoc">Length between front and rear axles (m)</div><div class="ttdef"><b>Definition:</b> Params.hpp:120</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_a105dda9186730914c63f6e39593d0e77"><div class="ttname"><a href="structackermann_1_1_params.html#a105dda9186730914c63f6e39593d0e77">ackermann::Params::throttle_min</a></div><div class="ttdeci">std::atomic< double > throttle_min</div><div class="ttdoc">Minimum throttle setting - should set to 0.0.</div><div class="ttdef"><b>Definition:</b> Params.hpp:104</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_a20071280825a5dfdf0eba12fa45c6886"><div class="ttname"><a href="structackermann_1_1_params.html#a20071280825a5dfdf0eba12fa45c6886">ackermann::Params::angular_velocity_min</a></div><div class="ttdeci">std::atomic< double > angular_velocity_min</div><div class="ttdoc">Minimum allowable (leftward) angular velocity of steering change (rad/s)</div><div class="ttdef"><b>Definition:</b> Params.hpp:83</div></div>
<div class="ttc" id="astructackermann_1_1_p_i_d_params_html_ac94fb3a31bae97e0a81be34d59c01e23"><div class="ttname"><a href="structackermann_1_1_p_i_d_params.html#ac94fb3a31bae97e0a81be34d59c01e23">ackermann::PIDParams::kp</a></div><div class="ttdeci">std::atomic< double > kp</div><div class="ttdoc">Proportinal parameter for PID controller.</div><div class="ttdef"><b>Definition:</b> Params.hpp:25</div></div>
<div class="ttc" id="astructackermann_1_1_params_html_a429093b21328bce330f930f55c1e3b3c"><div class="ttname"><a href="structackermann_1_1_params.html#a429093b21328bce330f930f55c1e3b3c">ackermann::Params::track_width</a></div><div class="ttdeci">std::atomic< double > track_width</div><div class="ttdoc">Width between left and right tires (m)</div><div class="ttdef"><b>Definition:</b> Params.hpp:124</div></div>
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