Skip to content

ConstVehicleSpeed

Class that implements a constant speed value requirement. This class will receive in its constructor the desired velocity for the speed in the inertial frame and will implement the corresponding speed in the path frame. More...

#include <ConstVehicleSpeed.h>

Inherits from Speed

Public Functions

Name
ConstVehicleSpeed(double vehicle_speed, double default_val)
Constructor for the ConstVehicleSpeed class. Receives as a parameter a double which represents the desired speed of the vehicle in the inertial frame.
virtual double getVd(double gamma, double tangent_norm) override
Method to get the desired velocity for the virtual target on the path given the path parameter (given by the value of gamma)
virtual double get_d_Vd(double gamma, double tangent_norm) override
Method to get the desired acceleration for the virtual target on the path given the path parameter (given by the value of gamma)
virtual double getDefaultVd(double gamma, double tangent_norm) override
Method to get the default desired velocity for safety when we are doing path following and want to have a backup value.

Additional inherited members

Public Functions inherited from Speed

Name
virtual ~Speed()
Virtual destructor for the abstract class.

Detailed Description

class ConstVehicleSpeed;

Class that implements a constant speed value requirement. This class will receive in its constructor the desired velocity for the speed in the inertial frame and will implement the corresponding speed in the path frame.

Author:

  • Marcelo Jacinto
  • Joao Quintas
  • Joao Cruz
  • Hung Tuan

Version: 1.0a

Date: 2021

Copyright: MIT

This class is used as a part of the speeds library

Public Functions Documentation

function ConstVehicleSpeed

ConstVehicleSpeed(
    double vehicle_speed,
    double default_val
)

Constructor for the ConstVehicleSpeed class. Receives as a parameter a double which represents the desired speed of the vehicle in the inertial frame.

Parameters:

  • vehicle_speed The desired speed for the vehicle in m/s
  • default_val The desired default_value when the vehicle is outside the gamma range

function getVd

virtual double getVd(
    double gamma,
    double tangent_norm
) override

Method to get the desired velocity for the virtual target on the path given the path parameter (given by the value of gamma)

Parameters:

  • gamma The path parameter
  • tangent_norm The norm of the tangent to the path

Return: A double with the desired speed

Reimplements: Speed::getVd

function get_d_Vd

virtual double get_d_Vd(
    double gamma,
    double tangent_norm
) override

Method to get the desired acceleration for the virtual target on the path given the path parameter (given by the value of gamma)

Parameters:

  • gamma The value of the path parameter
  • tangent_norm The norm of the tangent to the path

Return: A double with the desired acceleration

Reimplements: Speed::get_d_Vd

function getDefaultVd

virtual double getDefaultVd(
    double gamma,
    double tangent_norm
) override

Method to get the default desired velocity for safety when we are doing path following and want to have a backup value.

Parameters:

  • gamma The value of the path parameter
  • tangent_norm The norm of the tangent to the path in gamma

Return: A double with the default desired speed

Reimplements: Speed::getDefaultVd

Updated on 2024-03-07 at 10:30:47 +0000

Last update: March 7, 2024