LocalGuidance
A library that generates velocity references to follow a path.
local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData Class Reference

#include <LocalGuidancePurePursuit.hpp>

Public Member Functions

 PurePursuitControllerData ()
 
void reset ()
 

Public Attributes

local_guidance_control_interface::PoseStampedPtr pLookaheadPoint_
 Lookahead point on path, it is the goal of the controller. More...
 
unsigned int idSegmentLookaheadPoint_
 Segment id on the path where lookahead point lays in. More...
 
double absMaxAngularVelocity_
 Absolute maximum value of angular velocity (yaw-rate). More...
 
double lookaheadDistance_
 Lookahead distance for next goal point on the desired path. More...
 
double desiredAbsoluteValueLinearVelocity_
 Desired linear velocity. More...
 
double headingDifferenceControlFrameToLookaheadPoint_
 Difference in yaw angle between robot's control frame and lookahead point. More...
 
double lateralCtrlP_
 Lateral controller proportional action when Pure Pursuit is active. More...
 
double lateralCtrlMaxVel_
 Lateral controller proportional maximum output when Pure Pursuit is active. More...
 

Detailed Description

Pure Pursuit controller data.

Constructor & Destructor Documentation

local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData::PurePursuitControllerData ( )
inline

Member Function Documentation

void local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData::reset ( )
inline

Member Data Documentation

double local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData::absMaxAngularVelocity_

Absolute maximum value of angular velocity (yaw-rate).

double local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData::desiredAbsoluteValueLinearVelocity_

Desired linear velocity.

double local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData::headingDifferenceControlFrameToLookaheadPoint_

Difference in yaw angle between robot's control frame and lookahead point.

unsigned int local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData::idSegmentLookaheadPoint_

Segment id on the path where lookahead point lays in.

double local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData::lateralCtrlMaxVel_

Lateral controller proportional maximum output when Pure Pursuit is active.

double local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData::lateralCtrlP_

Lateral controller proportional action when Pure Pursuit is active.

double local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData::lookaheadDistance_

Lookahead distance for next goal point on the desired path.

local_guidance_control_interface::PoseStampedPtr local_guidance_pure_pursuit::LocalGuidancePurePursuit::PurePursuitControllerData::pLookaheadPoint_

Lookahead point on path, it is the goal of the controller.


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