RailFollowerParams< T > Class Template Reference

Detailed Description

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

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>

Inheritance diagram for RailFollowerParams< T >:

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...

Constructor & Destructor Documentation

RailFollowerParams() [1/3]

RailFollowerParams

(

)

Initialise the vector with defaults.

RailFollowerParams() [2/3]

RailFollowerParams

(

const RailFollowerParams< T > &

other

)

RailFollowerParams() [3/3]

RailFollowerParams ( RailFollowerParams< T > &&  other )

noexcept

Member Function Documentation

DoClone()

RailFollowerParams<T>* DoClone ( ) const

final

h()

const T& h

(

)

const

The vehicle's height above the lane's surface.

Note

h is expressed in units of m.

IsValid()

drake::boolean<T> IsValid

(

)

const

Returns whether the current values of this vector are well-formed.

max_speed()

const T& max_speed

(

)

const

The limit on the vehicle's forward speed, in meters per second; this element must be positive.

Note

max_speed is expressed in units of m/s.

operator=() [1/2]

RailFollowerParams& operator=

(

const RailFollowerParams< T > &

other

)

operator=() [2/2]

RailFollowerParams& operator= ( RailFollowerParams< T > &&  other )

noexcept

r()

const T& r

(

)

const

The vehicle's position on the lane's r-axis.

Note

r is expressed in units of m.

set_h()

void set_h

(

const T &

h

)

Setter that matches h().

set_max_speed()

void set_max_speed

(

const T &

max_speed

)

Setter that matches max_speed().

set_r()

void set_r

(

const T &

r

)

Setter that matches r().

set_velocity_limit_kp()

void set_velocity_limit_kp

(

const T &

velocity_limit_kp

)

Setter that matches velocity_limit_kp().

SetToNamedVariables()

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.

velocity_limit_kp()

const T& velocity_limit_kp

(

)

const

The smoothing constant for min/max velocity limits; this element must be positive.

Note

velocity_limit_kp is expressed in units of Hz.

with_h()

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.

with_max_speed()

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.

with_r()

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.

with_velocity_limit_kp()

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.

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

• rail_follower_params.h
• rail_follower.cc