motion::control::mpc_controller::MpcController Class Reference

A wrapper around an autogenerated mpc solver for vehicle dynamics control. More...

#include <mpc_controller.hpp>

Inheritance diagram for motion::control::mpc_controller::MpcController:

Collaboration diagram for motion::control::mpc_controller::MpcController:

Public Types
using	Command = autoware_auto_msgs::msg::VehicleControlCommand
using	State = autoware_auto_msgs::msg::VehicleKinematicState
using	Trajectory = autoware_auto_msgs::msg::Trajectory

Public Member Functions
	MpcController (const MpcController &)=delete
	MpcController (MpcController &&) noexcept=delete
MpcController &	operator= (const MpcController &)=delete
MpcController &	operator= (MpcController &&) noexcept=delete
	MpcController (const Config &config)
	Constructor. More...
	~MpcController () override=default
const Config &	get_config () const
	Getter for config class. More...
void	set_config (const Config &config)
	Setter for config class. More...
const Trajectory &	get_computed_trajectory () const noexcept
ControlDerivatives	get_computed_control_derivatives () const noexcept
	Get derivatives computed from the control problem. More...
void	debug_print (std::ostream &out) const
	Debug printing. More...
std::string	name () const override
	Get name of algorithm, for debugging or diagnostic purposes. More...
Index	get_compute_iterations () const override
	Get name of algorithm, for debugging or diagnostic purposes. More...
Public Member Functions inherited from motion::control::controller_common::ControllerBase
	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
const BehaviorConfig &	get_base_config () const noexcept

Static Public Attributes
constexpr static std::chrono::nanoseconds	solver_time_step {std::chrono::milliseconds{100LL}}

Protected Member Functions
bool	check_new_trajectory (const Trajectory &trajectory) const override
	Checks trajectory. More...
const Trajectory &	handle_new_trajectory (const Trajectory &trajectory) override
	Sets reference trajectory. More...
Command	compute_command_impl (const State &state) override
	Actually compute the control command. More...
Protected Member Functions inherited from motion::control::controller_common::ControllerBase
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 wrapper around an autogenerated mpc solver for vehicle dynamics control.

Member Typedef Documentation

Command

using motion::control::mpc_controller::MpcController::Command = autoware_auto_msgs::msg::VehicleControlCommand

State

using motion::control::mpc_controller::MpcController::State = autoware_auto_msgs::msg::VehicleKinematicState

Trajectory

using motion::control::mpc_controller::MpcController::Trajectory = autoware_auto_msgs::msg::Trajectory

Constructor & Destructor Documentation

MpcController() [1/3]

motion::control::mpc_controller::MpcController::MpcController ( const MpcController &  )

delete

MpcController() [2/3]

motion::control::mpc_controller::MpcController::MpcController ( MpcController &&  )

deletenoexcept

MpcController() [3/3]

motion::control::mpc_controller::MpcController::MpcController ( const Config &  config )

explicit

Constructor.

~MpcController()

motion::control::mpc_controller::MpcController::~MpcController ( )

overridedefault

Member Function Documentation

check_new_trajectory()

bool motion::control::mpc_controller::MpcController::check_new_trajectory ( const Trajectory &  trajectory ) const

overrideprotected

Checks trajectory.

compute_command_impl()

Command motion::control::mpc_controller::MpcController::compute_command_impl ( const State &  state )

overrideprotected

Actually compute the control command.

debug_print()

void motion::control::mpc_controller::MpcController::debug_print

(

std::ostream &

out

)

const

Debug printing.

get_compute_iterations()

Index motion::control::mpc_controller::MpcController::get_compute_iterations ( ) const

overridevirtual

Get name of algorithm, for debugging or diagnostic purposes.

Reimplemented from motion::control::controller_common::ControllerBase.

get_computed_control_derivatives()

ControlDerivatives motion::control::mpc_controller::MpcController::get_computed_control_derivatives ( ) const

noexcept

Get derivatives computed from the control problem.

get_computed_trajectory()

const MpcController::Trajectory & motion::control::mpc_controller::MpcController::get_computed_trajectory ( ) const

noexcept

Get trajectory plan computed as a result of solving the optimization problem. This method triggers the rather expensive copy from the solved vector to the trajectory representation

get_config()

const Config & motion::control::mpc_controller::MpcController::get_config

(

)

const

Getter for config class.

handle_new_trajectory()

const Trajectory & motion::control::mpc_controller::MpcController::handle_new_trajectory ( const Trajectory &  trajectory )

overrideprotected

Sets reference trajectory.

name()

std::string motion::control::mpc_controller::MpcController::name ( ) const

overridevirtual

Get name of algorithm, for debugging or diagnostic purposes.

Reimplemented from motion::control::controller_common::ControllerBase.

operator=() [1/2]

MpcController& motion::control::mpc_controller::MpcController::operator= ( const MpcController &  )

delete

operator=() [2/2]

MpcController& motion::control::mpc_controller::MpcController::operator= ( MpcController &&  )

deletenoexcept

set_config()

void motion::control::mpc_controller::MpcController::set_config

(

const Config &

config

)

Setter for config class.

Member Data Documentation

solver_time_step

constexpr std::chrono::nanoseconds motion::control::mpc_controller::MpcController::solver_time_step {std::chrono::milliseconds{100LL}}

staticconstexpr

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

• mpc_controller.hpp
• debug.cpp
• mpc_controller.cpp
• references.cpp