Stuct containing the algorithm configuration values for the PlatooningControlPlugin. More...

#include <platooning_control_config.hpp>

Collaboration diagram for platooning_control::PlatooningControlPluginConfig:

Public Attributes
double	stand_still_headway_m = 12.0

double	max_accel_mps2 = 2.5

double	kp = 0.5

double	kd = -0.5

double	ki = 0.0

double	max_delta_speed_per_timestep = 2

double	min_delta_speed_per_timestep = -10

double	adjustment_cap_mps = 10

int	cmd_timestamp_ms = 100

double	integrator_max = 100

double	integrator_min = -100

std::string	vehicle_id = "DEFAULT_VEHICLE_ID"

int	shutdown_timeout = 200

int	ignore_initial_inputs = 0

double	vehicle_response_lag = 0.2

double	max_lookahead_dist = 100.0

double	min_lookahead_dist = 6.0

double	speed_to_lookahead_ratio = 2.0

bool	is_interpolate_lookahead_point = true

bool	is_delay_compensation = true

double	emergency_stop_distance = 0.1

double	speed_thres_traveling_direction = 0.3

double	dist_front_rear_wheels = 3.5

double	dt = 0.1

double	integrator_max_pp = 0.0

double	integrator_min_pp = 0.0

double	ki_pp = 0.0

bool	is_integrator_enabled = false

bool	enable_max_adjustment_filter = true

bool	enable_max_accel_filter = true

Friends
std::ostream &	operator<< (std::ostream &output, const PlatooningControlPluginConfig &c)

Detailed Description

Stuct containing the algorithm configuration values for the PlatooningControlPlugin.

Definition at line 28 of file platooning_control_config.hpp.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	output,
		const PlatooningControlPluginConfig &	c
	)

friend

Definition at line 68 of file platooning_control_config.hpp.

  {
    output << "PlatooningControlPluginConfig { " << std::endl
           << "stand_still_headway_m: " << c.stand_still_headway_m << std::endl
           << "max_accel_mps2: " << c.max_accel_mps2 << std::endl
           << "kp: " << c.kp << std::endl
           << "kd: " << c.kd << std::endl
           << "ki: " << c.ki << std::endl
           << "max_delta_speed_per_timestep: " << c.max_delta_speed_per_timestep << std::endl
           << "min_delta_speed_per_timestep_: " << c.min_delta_speed_per_timestep << std::endl
           << "adjustment_cap_mps: " << c.adjustment_cap_mps << std::endl
           << "cmd_timestamp_ms: " << c.cmd_timestamp_ms << std::endl
           << "integrator_max: " << c.integrator_max << std::endl
           << "integrator_min: " << c.integrator_min << std::endl
           << "vehicle_id: " << c.vehicle_id << std::endl
           << "shutdown_timeout: " << c.shutdown_timeout << std::endl
           << "ignore_initial_inputs: " << c.ignore_initial_inputs << std::endl
            //Pure Pursuit configs
           << "vehicle_response_lag" << c.vehicle_response_lag << std::endl
           << "max_lookahead_dist: " << c.max_lookahead_dist << std::endl
           << "min_lookahead_dist: " << c.min_lookahead_dist << std::endl
           << "speed_to_lookahead_ratio: " << c.speed_to_lookahead_ratio << std::endl
           << "is_interpolate_lookahead_point: " << c.is_interpolate_lookahead_point << std::endl
           << "is_delay_compensation: " << c.is_delay_compensation << std::endl
           << "emergency_stop_distance: " << c.emergency_stop_distance << std::endl
           << "speed_thres_traveling_direction: "<< c.speed_thres_traveling_direction << std::endl
           << "dist_front_rear_wheels: " << c.dist_front_rear_wheels << std::endl
           << "dt: " << c.dt << std::endl
           << "integrator_max_pp: " << c.integrator_max_pp << std::endl
           << "integrator_min_pp: " << c.integrator_min_pp << std::endl
           << "ki_pp_: " << c.ki_pp << std::endl
           << "is_integrator_enabled" << c.is_integrator_enabled <<std::endl
           << "enable_max_adjustment_filter" << c.enable_max_adjustment_filter << std::endl
           << "enable_max_accel_filter" << c.enable_max_accel_filter << std::endl
           << "}" << std::endl;
    return output;
  }

Member Data Documentation

◆ adjustment_cap_mps

double platooning_control::PlatooningControlPluginConfig::adjustment_cap_mps = 10

Definition at line 38 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ cmd_timestamp_ms

int platooning_control::PlatooningControlPluginConfig::cmd_timestamp_ms = 100

Definition at line 39 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ dist_front_rear_wheels

double platooning_control::PlatooningControlPluginConfig::dist_front_rear_wheels = 3.5

Definition at line 55 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ dt

double platooning_control::PlatooningControlPluginConfig::dt = 0.1

Definition at line 57 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ emergency_stop_distance

double platooning_control::PlatooningControlPluginConfig::emergency_stop_distance = 0.1

Definition at line 53 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ enable_max_accel_filter

bool platooning_control::PlatooningControlPluginConfig::enable_max_accel_filter = true

Definition at line 63 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ enable_max_adjustment_filter

bool platooning_control::PlatooningControlPluginConfig::enable_max_adjustment_filter = true

Definition at line 62 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ ignore_initial_inputs

int platooning_control::PlatooningControlPluginConfig::ignore_initial_inputs = 0

Definition at line 44 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::generate_command(), and platooning_control::PlatooningControlPlugin::on_configure_plugin().

◆ integrator_max

double platooning_control::PlatooningControlPluginConfig::integrator_max = 100

Definition at line 40 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ integrator_max_pp

double platooning_control::PlatooningControlPluginConfig::integrator_max_pp = 0.0

Definition at line 58 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ integrator_min

double platooning_control::PlatooningControlPluginConfig::integrator_min = -100

Definition at line 41 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ integrator_min_pp

double platooning_control::PlatooningControlPluginConfig::integrator_min_pp = 0.0

Definition at line 59 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ is_delay_compensation

bool platooning_control::PlatooningControlPluginConfig::is_delay_compensation = true

Definition at line 52 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ is_integrator_enabled

bool platooning_control::PlatooningControlPluginConfig::is_integrator_enabled = false

Definition at line 61 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ is_interpolate_lookahead_point

bool platooning_control::PlatooningControlPluginConfig::is_interpolate_lookahead_point = true

Definition at line 51 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ kd

double platooning_control::PlatooningControlPluginConfig::kd = -0.5

Definition at line 33 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ ki

double platooning_control::PlatooningControlPluginConfig::ki = 0.0

Definition at line 34 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ ki_pp

double platooning_control::PlatooningControlPluginConfig::ki_pp = 0.0

Definition at line 60 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ kp

double platooning_control::PlatooningControlPluginConfig::kp = 0.5

Definition at line 32 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ max_accel_mps2

double platooning_control::PlatooningControlPluginConfig::max_accel_mps2 = 2.5

Definition at line 31 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ max_delta_speed_per_timestep

double platooning_control::PlatooningControlPluginConfig::max_delta_speed_per_timestep = 2

Definition at line 35 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ max_lookahead_dist

double platooning_control::PlatooningControlPluginConfig::max_lookahead_dist = 100.0

Definition at line 48 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ min_delta_speed_per_timestep

double platooning_control::PlatooningControlPluginConfig::min_delta_speed_per_timestep = -10

Definition at line 36 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ min_lookahead_dist

double platooning_control::PlatooningControlPluginConfig::min_lookahead_dist = 6.0

Definition at line 49 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ shutdown_timeout

int platooning_control::PlatooningControlPluginConfig::shutdown_timeout = 200

Definition at line 43 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::generate_command(), and platooning_control::PlatooningControlPlugin::on_configure_plugin().

◆ speed_thres_traveling_direction

double platooning_control::PlatooningControlPluginConfig::speed_thres_traveling_direction = 0.3

Definition at line 54 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ speed_to_lookahead_ratio

double platooning_control::PlatooningControlPluginConfig::speed_to_lookahead_ratio = 2.0

Definition at line 50 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ stand_still_headway_m

double platooning_control::PlatooningControlPluginConfig::stand_still_headway_m = 12.0

Definition at line 30 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

◆ vehicle_id

std::string platooning_control::PlatooningControlPluginConfig::vehicle_id = "DEFAULT_VEHICLE_ID"

Definition at line 42 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), and platooning_control::PlatooningControlPlugin::on_configure_plugin().

◆ vehicle_response_lag

double platooning_control::PlatooningControlPluginConfig::vehicle_response_lag = 0.2

Definition at line 47 of file platooning_control_config.hpp.

Referenced by platooning_control::PlatooningControlPlugin::PlatooningControlPlugin(), platooning_control::PlatooningControlPlugin::generate_control_signals(), platooning_control::PlatooningControlPlugin::on_configure_plugin(), and platooning_control::PlatooningControlPlugin::parameter_update_callback().

The documentation for this struct was generated from the following file:

platooning_control/include/platooning_control/platooning_control_config.hpp

Public Attributes

Friends

Detailed Description

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ adjustment_cap_mps

◆ cmd_timestamp_ms

◆ dist_front_rear_wheels

◆ dt

◆ emergency_stop_distance

◆ enable_max_accel_filter

◆ enable_max_adjustment_filter

◆ ignore_initial_inputs

◆ integrator_max

◆ integrator_max_pp

◆ integrator_min

◆ integrator_min_pp

◆ is_delay_compensation

◆ is_integrator_enabled

◆ is_interpolate_lookahead_point

◆ kd

◆ ki

◆ ki_pp

◆ kp

◆ max_accel_mps2

◆ max_delta_speed_per_timestep

◆ max_lookahead_dist

◆ min_delta_speed_per_timestep

◆ min_lookahead_dist

◆ shutdown_timeout

◆ speed_thres_traveling_direction

◆ speed_to_lookahead_ratio

◆ stand_still_headway_m

◆ vehicle_id

◆ vehicle_response_lag