Detailed Description

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

Specializes BasicVector with specific getters and setters.

#include <src/gen/simple_car_params.h>

Inheritance diagram for SimpleCarParams< T >:

Public Types
typedef SimpleCarParamsIndices	K
	An abbreviation for our row index constants. More...

Public Member Functions
	SimpleCarParams ()
	Default constructor. More...

Implements CopyConstructible, CopyAssignable, MoveConstructible,
MoveAssignable
	SimpleCarParams (const SimpleCarParams &other)

	SimpleCarParams (SimpleCarParams &&other) noexcept

SimpleCarParams &	operator= (const SimpleCarParams &other)

SimpleCarParams &	operator= (SimpleCarParams &&other) noexcept

template<typename U = T>
std::enable_if< std::is_same< U, drake::symbolic::Expression >::value >::type	SetToNamedVariables ()
	Create a drake::symbolic::Variable for each element with the known variable name. More...

SimpleCarParams< T > *	DoClone () const final

Getters and Setters
const T &	wheelbase () const
	The distance between the front and rear axles of the vehicle. More...

void	set_wheelbase (const T &wheelbase)
	Setter that matches wheelbase(). More...

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams< T >	with_wheelbase (const T &wheelbase) const
	Fluent setter that matches wheelbase(). More...

const T &	track () const
	The distance between the center of two wheels on the same axle. More...

void	set_track (const T &track)
	Setter that matches track(). More...

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams< T >	with_track (const T &track) const
	Fluent setter that matches track(). More...

const T &	max_abs_steering_angle () const
	The limit on the driving_command.steering angle input (the desired steering angle of a virtual center wheel); this element is applied symmetrically to both left- and right-turn limits. More...

void	set_max_abs_steering_angle (const T &max_abs_steering_angle)
	Setter that matches max_abs_steering_angle(). More...

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams< T >	with_max_abs_steering_angle (const T &max_abs_steering_angle) const
	Fluent setter that matches max_abs_steering_angle(). More...

const T &	max_velocity () const
	The limit on the car's forward speed. More...

void	set_max_velocity (const T &max_velocity)
	Setter that matches max_velocity(). More...

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams< T >	with_max_velocity (const T &max_velocity) const
	Fluent setter that matches max_velocity(). More...

const T &	max_acceleration () const
	The limit on the car's acceleration and deceleration. More...

void	set_max_acceleration (const T &max_acceleration)
	Setter that matches max_acceleration(). More...

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams< T >	with_max_acceleration (const T &max_acceleration) const
	Fluent setter that matches max_acceleration(). More...

const T &	velocity_limit_kp () const
	The smoothing constant for min/max velocity limits. More...

void	set_velocity_limit_kp (const T &velocity_limit_kp)
	Setter that matches velocity_limit_kp(). More...

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams< 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...

void	GetElementBounds (Eigen::VectorXd lower, Eigen::VectorXd upper) const final

static const std::vector< std::string > &	GetCoordinateNames ()
	See SimpleCarParamsIndices::GetCoordinateNames(). More...

Member Typedef Documentation

◆ K

typedef SimpleCarParamsIndices K

An abbreviation for our row index constants.

Constructor & Destructor Documentation

◆ SimpleCarParams() [1/3]

SimpleCarParams ( )

Default constructor.

Sets all rows to their default value:

wheelbase defaults to 2.700 m.
track defaults to 1.521 m.
max_abs_steering_angle defaults to 0.471 rad.
max_velocity defaults to 45.0 m/s.
max_acceleration defaults to 4.0 m/s^2.
velocity_limit_kp defaults to 10.0 Hz.

◆ SimpleCarParams() [2/3]

SimpleCarParams ( const SimpleCarParams< T > & other )

◆ SimpleCarParams() [3/3]

SimpleCarParams ( SimpleCarParams< T > && other )

noexcept

Member Function Documentation

◆ DoClone()

SimpleCarParams<T>* DoClone ( ) const

final

◆ GetCoordinateNames()

static const std::vector<std::string>& GetCoordinateNames ( )

static

See SimpleCarParamsIndices::GetCoordinateNames().

◆ GetElementBounds()

void GetElementBounds	(	Eigen::VectorXd *	lower,
		Eigen::VectorXd *	upper
	)		const

final

◆ IsValid()

drake::boolean<T> IsValid ( ) const

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

◆ max_abs_steering_angle()

const T& max_abs_steering_angle ( ) const

The limit on the driving_command.steering angle input (the desired steering angle of a virtual center wheel); this element is applied symmetrically to both left- and right-turn limits.

Note: max_abs_steering_angle is expressed in units of rad.; max_abs_steering_angle has a limited domain of [0.0, +Inf].

◆ max_acceleration()

const T& max_acceleration ( ) const

The limit on the car's acceleration and deceleration.

Note: max_acceleration is expressed in units of m/s^2.; max_acceleration has a limited domain of [0.0, +Inf].

◆ max_velocity()

const T& max_velocity ( ) const

The limit on the car's forward speed.

Note: max_velocity is expressed in units of m/s.; max_velocity has a limited domain of [0.0, +Inf].

◆ operator=() [1/2]

SimpleCarParams& operator= ( const SimpleCarParams< T > & other )

◆ operator=() [2/2]

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

noexcept

◆ set_max_abs_steering_angle()

void set_max_abs_steering_angle ( const T & max_abs_steering_angle )

Setter that matches max_abs_steering_angle().

◆ set_max_acceleration()

void set_max_acceleration ( const T & max_acceleration )

Setter that matches max_acceleration().

◆ set_max_velocity()

void set_max_velocity ( const T & max_velocity )

Setter that matches max_velocity().

◆ set_track()

void set_track ( const T & track )

Setter that matches track().

◆ set_velocity_limit_kp()

void set_velocity_limit_kp ( const T & velocity_limit_kp )

Setter that matches velocity_limit_kp().

◆ set_wheelbase()

void set_wheelbase ( const T & wheelbase )

Setter that matches wheelbase().

◆ SetToNamedVariables()

std::enable_if<std::is_same<U, drake::symbolic::Expression>::value>::type SetToNamedVariables ( )

Create a drake::symbolic::Variable for each element with the known variable name.

This is only available for T == drake::symbolic::Expression.

◆ track()

const T& track ( ) const

The distance between the center of two wheels on the same axle.

Note: track is expressed in units of m.; track has a limited domain of [0.0, +Inf].

◆ velocity_limit_kp()

const T& velocity_limit_kp ( ) const

The smoothing constant for min/max velocity limits.

Note: velocity_limit_kp is expressed in units of Hz.; velocity_limit_kp has a limited domain of [0.0, +Inf].

◆ wheelbase()

const T& wheelbase ( ) const

The distance between the front and rear axles of the vehicle.

Note: wheelbase is expressed in units of m.; wheelbase has a limited domain of [0.0, +Inf].

◆ with_max_abs_steering_angle()

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams<T> with_max_abs_steering_angle ( const T & max_abs_steering_angle ) const

Fluent setter that matches max_abs_steering_angle().

Returns a copy of this with max_abs_steering_angle set to a new value.

◆ with_max_acceleration()

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams<T> with_max_acceleration ( const T & max_acceleration ) const

Fluent setter that matches max_acceleration().

Returns a copy of this with max_acceleration set to a new value.

◆ with_max_velocity()

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams<T> with_max_velocity ( const T & max_velocity ) const

Fluent setter that matches max_velocity().

Returns a copy of this with max_velocity set to a new value.

◆ with_track()

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams<T> with_track ( const T & track ) const

Fluent setter that matches track().

Returns a copy of this with track set to a new value.

◆ with_velocity_limit_kp()

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams<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.

◆ with_wheelbase()

DRAKE_VECTOR_GEN_NODISCARD SimpleCarParams<T> with_wheelbase ( const T & wheelbase ) const

Fluent setter that matches wheelbase().

Returns a copy of this with wheelbase set to a new value.

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

simple_car_params.h