motion::control::controller_common::ControllerBase Class Reference

#include <controller_base.hpp>

Inheritance diagram for motion::control::controller_common::ControllerBase:

Public Member Functions
	ControllerBase (const BehaviorConfig &config)
	Constructors. More...
	ControllerBase (const ControllerBase &)=default
	ControllerBase (ControllerBase &&)=default
ControllerBase &	operator= (const ControllerBase &)=default
ControllerBase &	operator= (ControllerBase &&)=default
virtual	~ControllerBase () noexcept=default
void	set_trajectory (const Trajectory &trajectory)
const Trajectory &	get_reference_trajectory () const noexcept
	Getter for reference trajectory. More...
Command	compute_command (const State &state)
Command	compute_stop_command (const State &state) const noexcept
	Computes stopping control command. More...
Index	get_current_state_spatial_index () const
Index	get_current_state_temporal_index () const
virtual std::string	name () const
	Get name of algorithm, for debugging or diagnostic purposes. More...
virtual Index	get_compute_iterations () const
	Get name of algorithm, for debugging or diagnostic purposes. More...
const BehaviorConfig &	get_base_config () const noexcept

Protected Member Functions
virtual bool	check_new_trajectory (const Trajectory &trajectory) const
virtual const Trajectory &	handle_new_trajectory (const Trajectory &trajectory)
virtual Command	compute_command_impl (const State &state)=0
	Actually compute the control command. More...
Point	predict (const Point &point, std::chrono::nanoseconds dt) noexcept
	Get a predicted state based on given state. More...
void	set_base_config (const BehaviorConfig &config) noexcept
	Config getters and setters. More...

Detailed Description

A base class which exposes the basic API and implements the basic behaviors of a controller in the absence of a trajectory, and other basic bookkeeping

Constructor & Destructor Documentation

ControllerBase() [1/3]

motion::control::controller_common::ControllerBase::ControllerBase ( const BehaviorConfig &  config )

explicit

Constructors.

ControllerBase() [2/3]

motion::control::controller_common::ControllerBase::ControllerBase ( const ControllerBase &  )

default

ControllerBase() [3/3]

motion::control::controller_common::ControllerBase::ControllerBase ( ControllerBase &&  )

default

~ControllerBase()

virtual motion::control::controller_common::ControllerBase::~ControllerBase ( )

virtualdefaultnoexcept

Member Function Documentation

check_new_trajectory()

bool motion::control::controller_common::ControllerBase::check_new_trajectory ( const Trajectory &  trajectory ) const

protectedvirtual

Given a new trajectory, do some input validation: If the trajectory is fine for the algorithm, return true; otherwise return false.

compute_command()

Command motion::control::controller_common::ControllerBase::compute_command

(

const State &

state

)

Main API: Given current state (and reference trajectory), compute next command. Updates the current reference point of the trajectory

Exceptions

std::domain_error

If state is not in the same frame as reference trajectory

compute_command_impl()

virtual Command motion::control::controller_common::ControllerBase::compute_command_impl ( const State &  state )

protectedpure virtual

Actually compute the control command.

compute_stop_command()

Command motion::control::controller_common::ControllerBase::compute_stop_command ( const State &  state ) const

noexcept

Computes stopping control command.

get_base_config()

const BehaviorConfig & motion::control::controller_common::ControllerBase::get_base_config ( ) const

noexcept

get_compute_iterations()

Index motion::control::controller_common::ControllerBase::get_compute_iterations ( ) const

virtual

Get name of algorithm, for debugging or diagnostic purposes.

Reimplemented in motion::control::mpc_controller::MpcController.

get_current_state_spatial_index()

Index motion::control::controller_common::ControllerBase::get_current_state_spatial_index

(

)

const

Returns the index of the current reference point in the trajectory, i.e. the first point on the trajectory just after the current point spatially. If a point exactly matches, return that index.

Exceptions

std::runtime_error

if an empty tajectory or no trajectory is provided

get_current_state_temporal_index()

Index motion::control::controller_common::ControllerBase::get_current_state_temporal_index

(

)

const

Returns the index of the current reference point in the trajectory, i.e. the first point on the trajectory just after the current point in time. If a point exactly matches, return that index.

Exceptions

std::runtime_error

if an empty tajectory or no trajectory is provided

get_reference_trajectory()

const Trajectory & motion::control::controller_common::ControllerBase::get_reference_trajectory ( ) const

noexcept

Getter for reference trajectory.

handle_new_trajectory()

const Trajectory & motion::control::controller_common::ControllerBase::handle_new_trajectory ( const Trajectory &  trajectory )

protectedvirtual

Update internal bookkeeping or the algorithm-specific representation of the trajectory associated with updating to a new trajectory, return preferred form of trajectory

name()

std::string motion::control::controller_common::ControllerBase::name ( ) const

virtual

Get name of algorithm, for debugging or diagnostic purposes.

Reimplemented in motion::control::mpc_controller::MpcController.

operator=() [1/2]

ControllerBase& motion::control::controller_common::ControllerBase::operator= ( const ControllerBase &  )

default

operator=() [2/2]

ControllerBase& motion::control::controller_common::ControllerBase::operator= ( ControllerBase &&  )

default

predict()

Point motion::control::controller_common::ControllerBase::predict ( const Point &  point, std::chrono::nanoseconds  dt  )

protectednoexcept

Get a predicted state based on given state.

set_base_config()

void motion::control::controller_common::ControllerBase::set_base_config ( const BehaviorConfig &  config )

protectednoexcept

Config getters and setters.

set_trajectory()

void motion::control::controller_common::ControllerBase::set_trajectory

(

const Trajectory &

trajectory

)

Setter for reference trajectory, throws if trajectory is inappropriate without mutating state (assuming handle_new_trajectory also does not)

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

• controller_base.hpp
• controller_base.cpp