leadlag_controller.h

Go to the documentation of this file.

/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include "modules/control/proto/leadlag_conf.pb.h"

namespace apollo {
namespace control {

class LeadlagController {
 public:
  void Init(const LeadlagConf &leadlag_conf, const double dt);

  void SetLeadlag(const LeadlagConf &leadlag_conf);

  void TransformC2d(const double dt);

  void Reset();

  virtual double Control(const double error, const double dt);

  int InnerstateSaturationStatus() const;

 protected:
  // Control coefficients in contiouous-time domain
  double alpha_ = 0.0;
  double beta_ = 0.0;
  double tau_ = 0.0;
  double Ts_ = 0.01;  // By default, control sampling time is 0.01 sec
  // Control coefficients in discrete-time domain
  double kn1_ = 0.0;
  double kn0_ = 0.0;
  double kd1_ = 0.0;
  double kd0_ = 0.0;
  // Inner (intermedia) state in discrete-time domain at Direct Form II
  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;
};

}  // namespace control
}  // namespace apollo