Speed
Abstract class to serve as the base for speed as a function of gamma. More...
#include <Speed.h>
Inherited by ConstRabbitSpeed, ConstVehicleSpeed
Public Functions
| Name | |
|---|---|
| virtual double | getVd(double gamma, double tangent_norm) =0 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) =0 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) =0 Method to get the default desired velocity for safety when we are doing path following and want to have a backup value. |
| virtual | ~Speed() Virtual destructor for the abstract class. |
Detailed Description
class Speed;
Abstract class to serve as the base for speed as a function of gamma.
Author:
- Marcelo Jacinto
- Joao Quintas
- Joao Cruz
- Hung Tuan
Version: 1.0a
Date: 2021
Copyright: MIT
Since this class is abstract it cannot be instantiated. It must be inherited.
Public Functions Documentation
function getVd
virtual double getVd(
double gamma,
double tangent_norm
) =0
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 in gamma
Return: A double with the desired speed
Reimplemented by: ConstRabbitSpeed::getVd, ConstVehicleSpeed::getVd
NOTE: This method is pure virtual which means it must be implemented by a class that inherits Speed
function get_d_Vd
virtual double get_d_Vd(
double gamma,
double tangent_norm
) =0
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 in gamma
Return: A double with the desired acceleration
Reimplemented by: ConstRabbitSpeed::get_d_Vd, ConstVehicleSpeed::get_d_Vd
NOTE: This method is pure virtual which means it must be implemented by a class that inherits Speed
function getDefaultVd
virtual double getDefaultVd(
double gamma,
double tangent_norm
) =0
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
Reimplemented by: ConstRabbitSpeed::getDefaultVd, ConstVehicleSpeed::getDefaultVd
NOTE: THis method is pura virtual which means it must be implemented by a class that inherits Speed
function ~Speed
virtual ~Speed()
Virtual destructor for the abstract class.
Updated on 2022-09-15 at 17:51:29 +0000