Class simulation_framework::utilities::vehicle::controller::IVehicleController

Definition: autonomy/simulation/utilities/vehicle_controller/i_vehicle_controller.h (line 31)

Abstract vehicle controller interface.

Implementations provide control inputs for a reference trajectory given the current vehicle state. The controller returns a ControlInput that can be applied to a vehicle model.

Members

• Evaluate
• ~IVehicleController

Public functions

Function ~IVehicleController

virtual simulation_framework::utilities::vehicle::controller::IVehicleController::~IVehicleController()=default

Return type:

Function Evaluate

virtual vehicle::state::ControlInput simulation_framework::utilities::vehicle::controller::IVehicleController::Evaluate(const VehicleControllerInput &current, const VehicleControllerReference &reference) const =0

Evaluate control inputs to follow the provided reference.

Parameters:

• current: VehicleControllerInput holding void pointer to current state data (user-defined type)
• reference: VehicleControllerReference holding void pointer to reference data (user-defined type)

Returns:

ControlInput containing steering and acceleration commands

Parameters:

• const VehicleControllerInput & current
• const VehicleControllerReference & reference

Return type: vehicle::state::ControlInput