navlib::FrenetSerretController Class Reference

Path following controller. More...

#include <frenetSerretController.h>

Inheritance diagram for navlib::FrenetSerretController:

List of all members.

Public Member Functions
	FrenetSerretController (double k1, double k2, double kd, double gamma)
Velocity	getAction (Pose pose, Path *path, double dt, double v=1.0)
	Returns a velocity that will cause the vehicle to follow the path.

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Detailed Description

Path following controller.

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Constructor & Destructor Documentation

FrenetSerretController::FrenetSerretController	(	double	k1,
		double	k2,
		double	kd,
		double	gamma
	)

Parameters:

	k1	tuning param that rewards moving forward
	k2	tuning param that rewards following the path curvature
	kd	tuning param that rewards staying on the path
	gamma	tuning param

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Member Function Documentation

Velocity FrenetSerretController::getAction	(	Pose	pose,
		Path *	path,
		double	dt,
		double	v = 1.0
	)

Returns a velocity that will cause the vehicle to follow the path.

Parameters:

	pose	current vehicle pose
	path	path the controller should try to follow
	dt	change in time since the last call to this function
	v	desired forward velocity

References navlib::PathPoint::c, navlib::Path::getLength(), navlib::Path::getPathPoint(), navlib::Path::isReverse(), navlib::Pose::localize(), and navlib::Pose::theta.

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

• controller/frenetSerretController.h
• controller/frenetSerretController.cpp