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<a href="_controller_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="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <assert.h></span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <atomic></span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <memory></span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <thread></span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <chrono></span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "<a class="code" href="_params_8hpp.html">Params.hpp</a>"</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include "<a class="code" href="_model_8hpp.html">Model.hpp</a>"</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "<a class="code" href="_p_i_d_8hpp.html">PID.hpp</a>"</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include "<a class="code" href="_limits_8hpp.html">Limits.hpp</a>"</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">namespace </span><a class="code" href="namespaceackermann.html">ackermann</a> {</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classackermann_1_1_controller.html"> 34</a></span> <span class="keyword">class </span><a class="code" href="classackermann_1_1_controller.html">Controller</a> {</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keyword">public</span>:</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">explicit</span> <a class="code" href="classackermann_1_1_controller.html#a4bf9f0657a103e0144ef14f9b8a7c96e">Controller</a>(<span class="keyword">const</span> std::shared_ptr<const Params>& params);</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  ~<a class="code" href="classackermann_1_1_controller.html">Controller</a>();</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordtype">void</span> <a class="code" href="classackermann_1_1_controller.html#a65fb63861770f823cd30713833383aa6">start</a>();</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> </div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordtype">void</span> <a class="code" href="classackermann_1_1_controller.html#a285777e5abee8b5ec7eb683410215a04">stop</a>(<span class="keywordtype">bool</span> block = <span class="keyword">false</span>);</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">void</span> <a class="code" href="classackermann_1_1_controller.html#ab225ab7b942ed1590cc91b0343860924">reset</a>();</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordtype">bool</span> <a class="code" href="classackermann_1_1_controller.html#ac42d34ea838ccf8e9f83199b5753c08e">isRunning</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordtype">void</span> <a class="code" href="classackermann_1_1_controller.html#aee37f9adf9e8b2ec31499c8f7838531d">setState</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> speed, <span class="keyword">const</span> <span class="keywordtype">double</span> heading);</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordtype">void</span> <a class="code" href="classackermann_1_1_controller.html#a6a282c7083ce5a240d5e8e71782cb106">getState</a>(<span class="keywordtype">double</span>& speed, <span class="keywordtype">double</span>& heading) <span class="keyword">const</span>;</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordtype">void</span> <a class="code" href="classackermann_1_1_controller.html#a2c048f93364371bb99445b68cb4ad064">setGoal</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> speed, <span class="keyword">const</span> <span class="keywordtype">double</span> heading);</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordtype">void</span> <a class="code" href="classackermann_1_1_controller.html#ad768d0fdc4ad85510ba90af05ef6e4c4">getGoal</a>(<span class="keywordtype">double</span>& speed, <span class="keywordtype">double</span>& heading) <span class="keyword">const</span>;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">void</span> <a class="code" href="classackermann_1_1_controller.html#a4af9cff4fa372a7bd245fe50aaf05859">getCommand</a>(<span class="keywordtype">double</span>& throttle, <span class="keywordtype">double</span>& steering) <span class="keyword">const</span>;</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span> </div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordtype">void</span> <a class="code" href="classackermann_1_1_controller.html#ab1831f2b1e80c29e5d110c55e11e2d2e">getWheelLinVel</a>(<span class="keywordtype">double</span>& left_front,</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordtype">double</span>& right_front,</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordtype">double</span>& left_rear,</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordtype">double</span>& right_rear) <span class="keyword">const</span>;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span> </div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keyword">private</span>:</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordtype">void</span> controlLoop();</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keyword">const</span> std::shared_ptr<const Params> params_;</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  std::unique_ptr<Limits> limits_;</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  std::unique_ptr<Model> model_;</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  std::unique_ptr<PID> pid_throttle_;</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span> </div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  std::unique_ptr<PID> pid_heading_;</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  std::thread control_loop_handle_;</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  std::atomic<bool> cancel_ {<span class="keyword">false</span>};</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span> };</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span> } <span class="comment">// namespace ackermann</span></div><div class="ttc" id="classackermann_1_1_controller_html_ab225ab7b942ed1590cc91b0343860924"><div class="ttname"><a href="classackermann_1_1_controller.html#ab225ab7b942ed1590cc91b0343860924">ackermann::Controller::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Clear system state variables. </div><div class="ttdef"><b>Definition:</b> Controller.cpp:53</div></div>
<div class="ttc" id="classackermann_1_1_controller_html_a4bf9f0657a103e0144ef14f9b8a7c96e"><div class="ttname"><a href="classackermann_1_1_controller.html#a4bf9f0657a103e0144ef14f9b8a7c96e">ackermann::Controller::Controller</a></div><div class="ttdeci">Controller(const std::shared_ptr< const Params > &params)</div><div class="ttdoc">Constructor; constructs and initializes parameters of all composition classes. </div><div class="ttdef"><b>Definition:</b> Controller.cpp:19</div></div>
<div class="ttc" id="classackermann_1_1_controller_html_a285777e5abee8b5ec7eb683410215a04"><div class="ttname"><a href="classackermann_1_1_controller.html#a285777e5abee8b5ec7eb683410215a04">ackermann::Controller::stop</a></div><div class="ttdeci">void stop(bool block=false)</div><div class="ttdoc">Stop execution of a control loop and rejoin. This also calls reset() to clear any state variables...</div><div class="ttdef"><b>Definition:</b> Controller.cpp:46</div></div>
<div class="ttc" id="_limits_8hpp_html"><div class="ttname"><a href="_limits_8hpp.html">Limits.hpp</a></div><div class="ttdoc">Class declaration for Limits class. </div></div>
<div class="ttc" id="namespaceackermann_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="classackermann_1_1_controller_html"><div class="ttname"><a href="classackermann_1_1_controller.html">ackermann::Controller</a></div><div class="ttdoc">Implementation of a steering and speed controller for a rover with an Ackermann steering mechanism...</div><div class="ttdef"><b>Definition:</b> Controller.hpp:34</div></div>
<div class="ttc" id="classackermann_1_1_controller_html_ac42d34ea838ccf8e9f83199b5753c08e"><div class="ttname"><a href="classackermann_1_1_controller.html#ac42d34ea838ccf8e9f83199b5753c08e">ackermann::Controller::isRunning</a></div><div class="ttdeci">bool isRunning() const</div><div class="ttdoc">Return true if the core execution thread is running. This is a useful utility for testing...</div><div class="ttdef"><b>Definition:</b> Controller.cpp:59</div></div>
<div class="ttc" id="_model_8hpp_html"><div class="ttname"><a href="_model_8hpp.html">Model.hpp</a></div><div class="ttdoc">Class declaration for an Ackermann vehicle model. </div></div>
<div class="ttc" id="classackermann_1_1_controller_html_ad768d0fdc4ad85510ba90af05ef6e4c4"><div class="ttname"><a href="classackermann_1_1_controller.html#ad768d0fdc4ad85510ba90af05ef6e4c4">ackermann::Controller::getGoal</a></div><div class="ttdeci">void getGoal(double &speed, double &heading) const</div><div class="ttdoc">Get the current system setpoint (speed, heading); return as parameters specified. ...</div><div class="ttdef"><b>Definition:</b> Controller.cpp:75</div></div>
<div class="ttc" id="classackermann_1_1_controller_html_ab1831f2b1e80c29e5d110c55e11e2d2e"><div class="ttname"><a href="classackermann_1_1_controller.html#ab1831f2b1e80c29e5d110c55e11e2d2e">ackermann::Controller::getWheelLinVel</a></div><div class="ttdeci">void getWheelLinVel(double &left_front, double &right_front, double &left_rear, double &right_rear) const</div><div class="ttdoc">Get the current system wheel speeds; return as parameters specified. </div><div class="ttdef"><b>Definition:</b> Controller.cpp:83</div></div>
<div class="ttc" id="_params_8hpp_html"><div class="ttname"><a href="_params_8hpp.html">Params.hpp</a></div><div class="ttdoc">Parameters used in the Ackermann controller system. </div></div>
<div class="ttc" id="classackermann_1_1_controller_html_a2c048f93364371bb99445b68cb4ad064"><div class="ttname"><a href="classackermann_1_1_controller.html#a2c048f93364371bb99445b68cb4ad064">ackermann::Controller::setGoal</a></div><div class="ttdeci">void setGoal(const double speed, const double heading)</div><div class="ttdoc">Set the current system setpoint (speed, heading). </div><div class="ttdef"><b>Definition:</b> Controller.cpp:71</div></div>
<div class="ttc" id="classackermann_1_1_controller_html_a6a282c7083ce5a240d5e8e71782cb106"><div class="ttname"><a href="classackermann_1_1_controller.html#a6a282c7083ce5a240d5e8e71782cb106">ackermann::Controller::getState</a></div><div class="ttdeci">void getState(double &speed, double &heading) const</div><div class="ttdoc">Get the current state (speed, heading) of the system; return as parameters specified. </div><div class="ttdef"><b>Definition:</b> Controller.cpp:67</div></div>
<div class="ttc" id="_p_i_d_8hpp_html"><div class="ttname"><a href="_p_i_d_8hpp.html">PID.hpp</a></div><div class="ttdoc">Class declaration for a PID controller. </div></div>
<div class="ttc" id="classackermann_1_1_controller_html_a65fb63861770f823cd30713833383aa6"><div class="ttname"><a href="classackermann_1_1_controller.html#a65fb63861770f823cd30713833383aa6">ackermann::Controller::start</a></div><div class="ttdeci">void start()</div><div class="ttdoc">Begin execution of a control loop. </div><div class="ttdef"><b>Definition:</b> Controller.cpp:37</div></div>
<div class="ttc" id="classackermann_1_1_controller_html_aee37f9adf9e8b2ec31499c8f7838531d"><div class="ttname"><a href="classackermann_1_1_controller.html#aee37f9adf9e8b2ec31499c8f7838531d">ackermann::Controller::setState</a></div><div class="ttdeci">void setState(const double speed, const double heading)</div><div class="ttdoc">Set the current state (speed, heading) of the system. </div><div class="ttdef"><b>Definition:</b> Controller.cpp:63</div></div>
<div class="ttc" id="classackermann_1_1_controller_html_a4af9cff4fa372a7bd245fe50aaf05859"><div class="ttname"><a href="classackermann_1_1_controller.html#a4af9cff4fa372a7bd245fe50aaf05859">ackermann::Controller::getCommand</a></div><div class="ttdeci">void getCommand(double &throttle, double &steering) const</div><div class="ttdoc">Get the current system command (speed, heading); return as parameters specified. </div><div class="ttdef"><b>Definition:</b> Controller.cpp:79</div></div>
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