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CPFControl

Abstract class to implement the cooperative path following synchronization controller. More...

#include <CPFControl.h>

Inherited by EventTriggered

Public Functions

Name
virtual double coordinationController(double time) =0
Method to that updated the coordination control law and returns the correction speed vc to be used by the virtual target.
virtual bool updateVehiclesInformation(double time, unsigned int ID, double gamma, double vd) =0
Method to update each individual vehicle information given an int with the ID of the vehicle and the new virtual target value.
virtual bool publishCurrentGamma(double time) =0
Method to inform the user if the current gamma should be published or not.
virtual bool reset() =0
Method to reset the current CPF controller.
Eigen::MatrixXi getAdjencyMatrix()
Method to get the Adjency Matrix that represents the network topology.
Eigen::VectorXi getNeighbors()
Method to get a vector with the neighbors of the current vehicle.
bool updateAdjencyMatrix(Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic > & adjency_matrix)
Method to update the Adjency Matrix that represents the network topology.
unsigned int getNetworkSize()
Method to get the number of vehicles used in the network.
unsigned int getCurrentVehicleID()
Method to get the current vehicle ID in the network.
virtual ~CPFControl()
Virtual destructor for the abstract class.

Protected Functions

Name
CPFControl(Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic > & adjency_matrix, unsigned int vehicle_ID)
Constructor for the abstract class. Receive the adjency matrix as a parameter.

Detailed Description

class CPFControl;

Abstract class to implement the cooperative path following synchronization controller.

Author:

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

Version: 1.0a

Date: 2021

Copyright: MIT

In this class it is assumed that each vehicle has an ID which corresponds to each position in the adjency matrix that describes the topology of the network. The first ID is assumed to be 0.

Public Functions Documentation

function coordinationController

virtual double coordinationController(
    double time
) =0

Method to that updated the coordination control law and returns the correction speed vc to be used by the virtual target.

Parameters:

  • time An int with the current time expressed in seconds

Return: A double with the speed correction term vc

Reimplemented by: EventTriggered::coordinationController

function updateVehiclesInformation

virtual bool updateVehiclesInformation(
    double time,
    unsigned int ID,
    double gamma,
    double vd
) =0

Method to update each individual vehicle information given an int with the ID of the vehicle and the new virtual target value.

Parameters:

  • time An int with the current time expressed in seconds
  • ID An int with the ID of the vehicle which to update information
  • gamma A double with the new information of the virtual target position
  • vd A double with the desired velocity of the virtual target of that particular vehicle

Return: A boolean with the information whether the information was used with success or not

Reimplemented by: EventTriggered::updateVehiclesInformation

function publishCurrentGamma

virtual bool publishCurrentGamma(
    double time
) =0

Method to inform the user if the current gamma should be published or not.

Parameters:

  • time The current time expressed in seconds

Return: A boolean that is true if the current gamma should be published

Reimplemented by: EventTriggered::publishCurrentGamma

function reset

virtual bool reset() =0

Method to reset the current CPF controller.

Return: A boolean whether it was reset correctly or not

Reimplemented by: EventTriggered::reset

function getAdjencyMatrix

Eigen::MatrixXi getAdjencyMatrix()

Method to get the Adjency Matrix that represents the network topology.

Return:

  • An eigen adjecy matrix of ints
  • An eigen adjecy matrix of doubles

function getNeighbors

Eigen::VectorXi getNeighbors()

Method to get a vector with the neighbors of the current vehicle.

Return: An eigen vector with ints

function updateAdjencyMatrix

bool updateAdjencyMatrix(
    Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic > & adjency_matrix
)

Method to update the Adjency Matrix that represents the network topology.

Return: A boolean informing if update was done successfully or not

function getNetworkSize

unsigned int getNetworkSize()

Method to get the number of vehicles used in the network.

Return: An int with the number of vehicles in the network

function getCurrentVehicleID

unsigned int getCurrentVehicleID()

Method to get the current vehicle ID in the network.

Return: An int with the current vehicle ID

function ~CPFControl

virtual ~CPFControl()

Virtual destructor for the abstract class.

Protected Functions Documentation

function CPFControl

CPFControl(
    Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic > & adjency_matrix,
    unsigned int vehicle_ID
)

Constructor for the abstract class. Receive the adjency matrix as a parameter.

Parameters:

  • adjency_matrix An Eigen adjency matrix
  • vehicle_ID The current vehicle ID

Updated on 2022-09-15 at 17:51:30 +0000

Last update: September 15, 2022
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