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ConstRabbitSpeed

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

#include <ConstRabbitSpeed.h>

Inherits from Speed

Public Functions

Name
ConstRabbitSpeed(double rabbit_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 ConstRabbitSpeed;

Class that implements a constant speed value requirement. This class will receive in its constructor the desired velocity for the 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 ConstRabbitSpeed

ConstRabbitSpeed(
    double rabbit_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:

  • rabbit_speed The speed of the path parameter (in the path frame)
  • default_val The default value of the path parameter (if outside the parameterization bounds)

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

Last update: September 15, 2022
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