apollo::control::LeadlagPlusController类 参考

#include <leadlag_plus_controller.h>

类 apollo::control::LeadlagPlusController 继承关系图:

apollo::control::LeadlagPlusController 的协作图:

Public 成员函数
void	InitLeadlag ()
	initialize lead/lag controller
void	SetLeadlagConf (const LeadlagConf &leadlag_conf)
	alpha, beta and tau
Public 成员函数 继承自 apollo::control::LeadlagController
void	Init (const LeadlagConf &leadlag_conf, const double dt)
	initialize lead/lag controller
void	SetLeadlag (const LeadlagConf &leadlag_conf)
	alpha, beta and tau
void	TransformC2d (const double dt)
	transfer lead/lag controller coefficients to the discrete-time form, with the bilinear transform (trapezoidal integration) method
void	Reset ()
	reset variables for lead/leg controller
virtual double	Control (const double error, const double dt)
	compute control value based on the error
int	InnerstateSaturationStatus () const
	get saturation status

额外继承的成员函数
Protected 属性 继承自 apollo::control::LeadlagController
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

详细描述

在文件 leadlag_plus_controller.h 第 40 行定义.

成员函数说明

InitLeadlag()

void apollo::control::LeadlagPlusController::InitLeadlag

(

)

initialize lead/lag controller

在文件 leadlag_plus_controller.cc 第 26 行定义.

                                        {
    previous_output_ = 0.0;
    previous_innerstate_ = 0.0;
    innerstate_ = 0.0;
    innerstate_saturation_status_ = 0;
}

SetLeadlagConf()

void apollo::control::LeadlagPlusController::SetLeadlagConf

(

const LeadlagConf &

leadlag_conf

)

alpha, beta and tau

参数

leadlag_conf

configuration for leadlag controller

在文件 leadlag_plus_controller.cc 第 33 行定义.

                                                                          {
    innerstate_saturation_high_ = std::fabs(leadlag_conf.innerstate_saturation_level());
    innerstate_saturation_low_ = -std::fabs(leadlag_conf.innerstate_saturation_level());
    SetLeadlag(leadlag_conf);
}

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该类的文档由以下文件生成:

• modules/control/control_task_base_extend/common/leadlag_plus_controller.h
• modules/control/control_task_base_extend/common/leadlag_plus_controller.cc