delphyne
TrajectoryFollower< T > Class Template Referencefinal

Detailed Description

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

TrajectoryFollower simply moves along a pre-established trajectory.

Note that, when T = AutoDiffXd, the AutoDiffXd derivatives for each element of the the outputs are empty.

output port 0: A SimpleCarState containing:

  • position: x, y, heading; heading is 0 rad when pointed +x, pi/2 rad when pointed +y; heading is defined around the +z axis, positive-left-turn.
  • speed: s = √{ẋ² + ẏ²} (OutputPort getter: state_output())

output port 1: A PoseVector containing X_WA, where A is the agent's reference frame. (OutputPort getter: pose_output())

output port 2: A FrameVelocity containing the spatial velocity V_WA, where A is the agent's reference frame. (OutputPort getter: velocity_output())

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

  • double
  • drake::AutoDiffXd
  • symbolic::Expression

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

#include <src/systems/trajectory_follower.h>

Inheritance diagram for TrajectoryFollower< T >:
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Public Member Functions

 TrajectoryFollower (const Trajectory &trajectory, double sampling_time_sec=0.01)
 Constructs a TrajectoryFollower system that traces a given Trajectory. More...
 
template<typename U >
 TrajectoryFollower (const TrajectoryFollower< U > &other)
 Scalar-converting copy constructor. More...
 
Accessors for the outputs, as enumerated in the class documentation.
const drake::systems::OutputPort< T > & state_output () const
 
const drake::systems::OutputPort< T > & pose_output () const
 
const drake::systems::OutputPort< T > & velocity_output () const
 

Friends

template<typename >
class TrajectoryFollower
 

Constructor & Destructor Documentation

◆ TrajectoryFollower() [1/2]

TrajectoryFollower ( const Trajectory trajectory,
double  sampling_time_sec = 0.01 
)

Constructs a TrajectoryFollower system that traces a given Trajectory.

Parameters
trajectorya Trajectory containing the trajectory.
sampling_time_secthe requested sampling time (in sec) for this system. Default: 0.01.

◆ TrajectoryFollower() [2/2]

TrajectoryFollower ( const TrajectoryFollower< U > &  other)
explicit

Scalar-converting copy constructor.

Member Function Documentation

◆ pose_output()

const drake::systems::OutputPort<T>& pose_output ( ) const

◆ state_output()

const drake::systems::OutputPort<T>& state_output ( ) const

◆ velocity_output()

const drake::systems::OutputPort<T>& velocity_output ( ) const

Friends And Related Function Documentation

◆ TrajectoryFollower

friend class TrajectoryFollower
friend

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