apollo::control::LeadlagController Class Reference

A lead/lag controller for speed and steering using defualt integral hold. More...

#include <leadlag_controller.h>

Collaboration diagram for apollo::control::LeadlagController:

Public Member Functions
void	Init (const LeadlagConf &leadlag_conf, const double dt)
	initialize lead/lag controller More...
void	SetLeadlag (const LeadlagConf &leadlag_conf)
void	TransformC2d (const double dt)
	transfer lead/lag controller coefficients to the discrete-time form, with the bilinear transform (trapezoidal integration) method More...
void	Reset ()
	reset variables for lead/leg controller More...
virtual double	Control (const double error, const double dt)
	compute control value based on the error More...
int	InnerstateSaturationStatus () const
	get saturation status More...

Protected Attributes
double	alpha_ = 0.0
double	beta_ = 0.0
double	tau_ = 0.0
double	Ts_ = 0.01
double	kn1_ = 0.0
double	kn0_ = 0.0
double	kd1_ = 0.0
double	kd0_ = 0.0
double	previous_output_ = 0.0
double	previous_innerstate_ = 0.0
double	innerstate_ = 0.0
double	innerstate_saturation_high_ = 0.0
double	innerstate_saturation_low_ = 0.0
int	innerstate_saturation_status_ = 0
bool	transfromc2d_enabled_ = false

Detailed Description

A lead/lag controller for speed and steering using defualt integral hold.

Member Function Documentation

Control()

virtual double apollo::control::LeadlagController::Control ( const double  error, const double  dt  )

virtual

compute control value based on the error

Parameters

error	error value, the difference between a desired value and a measured value
dt	sampling time interval

Returns

control value based on Lead/Lag terms

Init()

void apollo::control::LeadlagController::Init	(	const LeadlagConf &	leadlag_conf,
		const double	dt
	)

initialize lead/lag controller

Parameters

leadlag_conf	configuration for leadlag controller
dt	sampling time interval

InnerstateSaturationStatus()

int apollo::control::LeadlagController::InnerstateSaturationStatus

(

)

const

get saturation status

Returns

saturation status

Reset()

void apollo::control::LeadlagController::Reset

(

)

reset variables for lead/leg controller

SetLeadlag()

void apollo::control::LeadlagController::SetLeadlag

(

const LeadlagConf &

leadlag_conf

)

alpha, beta and tau

Parameters

leadlag_conf

configuration for leadlag controller

TransformC2d()

void apollo::control::LeadlagController::TransformC2d

(

const double

dt

)

transfer lead/lag controller coefficients to the discrete-time form, with the bilinear transform (trapezoidal integration) method

Parameters

dt	sampling time interval

Member Data Documentation

alpha_

double apollo::control::LeadlagController::alpha_ = 0.0

protected

beta_

double apollo::control::LeadlagController::beta_ = 0.0

protected

innerstate_

double apollo::control::LeadlagController::innerstate_ = 0.0

protected

innerstate_saturation_high_

double apollo::control::LeadlagController::innerstate_saturation_high_ = 0.0

protected

innerstate_saturation_low_

double apollo::control::LeadlagController::innerstate_saturation_low_ = 0.0

protected

innerstate_saturation_status_

int apollo::control::LeadlagController::innerstate_saturation_status_ = 0

protected

kd0_

double apollo::control::LeadlagController::kd0_ = 0.0

protected

kd1_

double apollo::control::LeadlagController::kd1_ = 0.0

protected

kn0_

double apollo::control::LeadlagController::kn0_ = 0.0

protected

kn1_

double apollo::control::LeadlagController::kn1_ = 0.0

protected

previous_innerstate_

double apollo::control::LeadlagController::previous_innerstate_ = 0.0

protected

previous_output_

double apollo::control::LeadlagController::previous_output_ = 0.0

protected

tau_

double apollo::control::LeadlagController::tau_ = 0.0

protected

transfromc2d_enabled_

bool apollo::control::LeadlagController::transfromc2d_enabled_ = false

protected

Ts_

double apollo::control::LeadlagController::Ts_ = 0.01

protected

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

• modules/control/common/leadlag_controller.h