pure_pursuit_wrapper::PurePursuitWrapperConfig Struct Reference

Struct containing the algorithm configuration values for the PurePursuitWrapperConfig. More...

#include <pure_pursuit_wrapper_config.hpp>

Collaboration diagram for pure_pursuit_wrapper::PurePursuitWrapperConfig:

Public Attributes
double	vehicle_response_lag = 0.2
double	minimum_lookahead_distance = 6.0
double	maximum_lookahead_distance = 100.0
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

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

Detailed Description

Struct containing the algorithm configuration values for the PurePursuitWrapperConfig.

Definition at line 25 of file pure_pursuit_wrapper_config.hpp.

Friends And Related Function Documentation

operator<<

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

friend

Definition at line 44 of file pure_pursuit_wrapper_config.hpp.

  {
    output << "PurePursuitWrapperConfig { " << std::endl
           << "vehicle_response_lag: " << c.vehicle_response_lag << std::endl
           << "minimum_lookahead_distance: " << c.minimum_lookahead_distance << std::endl
           << "maximum_lookahead_distance: " << c.maximum_lookahead_distance << 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
            // integrator part:
           << "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
           << "}" << std::endl;
    return output;
  }

Member Data Documentation

dist_front_rear_wheels

double pure_pursuit_wrapper::PurePursuitWrapperConfig::dist_front_rear_wheels = 3.5

Definition at line 35 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

dt

double pure_pursuit_wrapper::PurePursuitWrapperConfig::dt = 0.1

Definition at line 38 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), and pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin().

emergency_stop_distance

double pure_pursuit_wrapper::PurePursuitWrapperConfig::emergency_stop_distance = 0.1

Definition at line 33 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

integrator_max_pp

double pure_pursuit_wrapper::PurePursuitWrapperConfig::integrator_max_pp = 0.0

Definition at line 39 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

integrator_min_pp

double pure_pursuit_wrapper::PurePursuitWrapperConfig::integrator_min_pp = 0.0

Definition at line 40 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

is_delay_compensation

bool pure_pursuit_wrapper::PurePursuitWrapperConfig::is_delay_compensation = true

Definition at line 32 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

is_integrator_enabled

bool pure_pursuit_wrapper::PurePursuitWrapperConfig::is_integrator_enabled = false

Definition at line 42 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

is_interpolate_lookahead_point

bool pure_pursuit_wrapper::PurePursuitWrapperConfig::is_interpolate_lookahead_point = true

Definition at line 31 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

Ki_pp

double pure_pursuit_wrapper::PurePursuitWrapperConfig::Ki_pp = 0.0

Definition at line 41 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

maximum_lookahead_distance

double pure_pursuit_wrapper::PurePursuitWrapperConfig::maximum_lookahead_distance = 100.0

Definition at line 29 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

minimum_lookahead_distance

double pure_pursuit_wrapper::PurePursuitWrapperConfig::minimum_lookahead_distance = 6.0

Definition at line 28 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

speed_thres_traveling_direction

double pure_pursuit_wrapper::PurePursuitWrapperConfig::speed_thres_traveling_direction = 0.3

Definition at line 34 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

speed_to_lookahead_ratio

double pure_pursuit_wrapper::PurePursuitWrapperConfig::speed_to_lookahead_ratio = 2.0

Definition at line 30 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

vehicle_response_lag

double pure_pursuit_wrapper::PurePursuitWrapperConfig::vehicle_response_lag = 0.2

Definition at line 27 of file pure_pursuit_wrapper_config.hpp.

Referenced by pure_pursuit_wrapper::PurePursuitWrapperNode::PurePursuitWrapperNode(), pure_pursuit_wrapper::PurePursuitWrapperNode::generate_command(), pure_pursuit_wrapper::PurePursuitWrapperNode::on_configure_plugin(), and pure_pursuit_wrapper::PurePursuitWrapperNode::parameter_update_callback().

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

• pure_pursuit_wrapper/include/pure_pursuit_wrapper/pure_pursuit_wrapper_config.hpp