delphyne
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Specializes BasicVector with specific getters and setters that specify the parameters used in updating a RailFollower system.
Parameters: r : orthogonal offset from the lane centreline (rail) (m)
#include <src/gen/rail_follower_params.h>
Public Member Functions | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, | |
MoveAssignable | |
RailFollowerParams (const RailFollowerParams &other) | |
RailFollowerParams (RailFollowerParams &&other) noexcept | |
RailFollowerParams & | operator= (const RailFollowerParams &other) |
RailFollowerParams & | operator= (RailFollowerParams &&other) noexcept |
template<typename U = T> | |
std::enable_if< std::is_same< U, Symbolic >::value >::type | SetToNamedVariables () |
Create a symbolic::Variable for each element with the known variable name. More... | |
RailFollowerParams< T > * | DoClone () const final |
Vector indices. | |
RailFollowerParams () | |
Initialise the vector with defaults. More... | |
Getters and Setters | |
const T & | r () const |
The vehicle's position on the lane's r-axis. More... | |
void | set_r (const T &r) |
Setter that matches r(). More... | |
DRAKE_VECTOR_GEN_NODISCARD RailFollowerParams< T > | with_r (const T &r) const |
Fluent setter that matches r(). More... | |
const T & | h () const |
The vehicle's height above the lane's surface. More... | |
void | set_h (const T &h) |
Setter that matches h(). More... | |
DRAKE_VECTOR_GEN_NODISCARD RailFollowerParams< T > | with_h (const T &h) const |
Fluent setter that matches h(). More... | |
const T & | max_speed () const |
The limit on the vehicle's forward speed, in meters per second; this element must be positive. More... | |
void | set_max_speed (const T &max_speed) |
Setter that matches max_speed(). More... | |
DRAKE_VECTOR_GEN_NODISCARD RailFollowerParams< T > | with_max_speed (const T &max_speed) const |
Fluent setter that matches max_speed(). More... | |
const T & | velocity_limit_kp () const |
The smoothing constant for min/max velocity limits; this element must be positive. More... | |
void | set_velocity_limit_kp (const T &velocity_limit_kp) |
Setter that matches velocity_limit_kp(). More... | |
DRAKE_VECTOR_GEN_NODISCARD RailFollowerParams< T > | with_velocity_limit_kp (const T &velocity_limit_kp) const |
Fluent setter that matches velocity_limit_kp(). More... | |
drake::boolean< T > | IsValid () const |
Returns whether the current values of this vector are well-formed. More... | |
Initialise the vector with defaults.
RailFollowerParams | ( | const RailFollowerParams< T > & | other | ) |
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noexcept |
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final |
const T& h | ( | ) | const |
The vehicle's height above the lane's surface.
h
is expressed in units of m. drake::boolean<T> IsValid | ( | ) | const |
Returns whether the current values of this vector are well-formed.
const T& max_speed | ( | ) | const |
The limit on the vehicle's forward speed, in meters per second; this element must be positive.
max_speed
is expressed in units of m/s. RailFollowerParams& operator= | ( | const RailFollowerParams< T > & | other | ) |
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noexcept |
const T& r | ( | ) | const |
The vehicle's position on the lane's r-axis.
r
is expressed in units of m. void set_h | ( | const T & | h | ) |
Setter that matches h().
void set_max_speed | ( | const T & | max_speed | ) |
Setter that matches max_speed().
void set_r | ( | const T & | r | ) |
Setter that matches r().
void set_velocity_limit_kp | ( | const T & | velocity_limit_kp | ) |
Setter that matches velocity_limit_kp().
std::enable_if<std::is_same<U, Symbolic>::value>::type SetToNamedVariables | ( | ) |
Create a symbolic::Variable for each element with the known variable name.
This is only available for T == delphyne::Symbolic.
const T& velocity_limit_kp | ( | ) | const |
The smoothing constant for min/max velocity limits; this element must be positive.
velocity_limit_kp
is expressed in units of Hz. DRAKE_VECTOR_GEN_NODISCARD RailFollowerParams<T> with_h | ( | const T & | h | ) | const |
Fluent setter that matches h().
Returns a copy of this
with h set to a new value.
DRAKE_VECTOR_GEN_NODISCARD RailFollowerParams<T> with_max_speed | ( | const T & | max_speed | ) | const |
Fluent setter that matches max_speed().
Returns a copy of this
with max_speed set to a new value.
DRAKE_VECTOR_GEN_NODISCARD RailFollowerParams<T> with_r | ( | const T & | r | ) | const |
Fluent setter that matches r().
Returns a copy of this
with r set to a new value.
DRAKE_VECTOR_GEN_NODISCARD RailFollowerParams<T> with_velocity_limit_kp | ( | const T & | velocity_limit_kp | ) | const |
Fluent setter that matches velocity_limit_kp().
Returns a copy of this
with velocity_limit_kp set to a new value.