PurePursuitController< T > Class Template Reference

Detailed Description

template<typename T>
class delphyne::PurePursuitController< T >

PurePursuitController implements a pure pursuit controller.

See PurePursuit for details on the approach.

Instantiated templates for the following kinds of T's are provided:

• double
• AutoDiffXd

They are already available to link against in the containing library.

Input Port 0: a LaneDirection representing the requested lane and direction of travel. (InputPort getter: lane_input())

Input Port 1: PoseVector for the ego car. (InputPort getter: ego_pose_input())

Output Port 0: A BasicVector of size one with the commanded steering angle. (OutputPort getter: steering_command_output())

#include <src/systems/pure_pursuit_controller.h>

Inheritance diagram for PurePursuitController< T >:

Public Member Functions
	PurePursuitController ()
	Constructor. More...
template<typename U >
	PurePursuitController (const PurePursuitController< U > &)
	Scalar-converting copy constructor. More...
	~PurePursuitController () override
const drake::systems::InputPort< T > &	lane_input () const
	Returns the port to the individual input/output ports. More...
const drake::systems::InputPort< T > &	ego_pose_input () const
const drake::systems::OutputPort< T > &	steering_command_output () const

Constructor & Destructor Documentation

PurePursuitController() [1/2]

PurePursuitController

Constructor.

PurePursuitController() [2/2]

PurePursuitController ( const PurePursuitController< U > &  )

explicit

Scalar-converting copy constructor.

~PurePursuitController()

~PurePursuitController

override

Member Function Documentation

ego_pose_input()

const drake::systems::InputPort< T > & ego_pose_input

lane_input()

const drake::systems::InputPort< T > & lane_input

Returns the port to the individual input/output ports.

steering_command_output()

const drake::systems::OutputPort< T > & steering_command_output

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

• pure_pursuit_controller.h
• pure_pursuit_controller.cc