Class simulation_framework::utilities::vehicle::properties::VehicleProperties

Definition: autonomy/simulation/utilities/vehicle_properties/vehicle_properties.h (line 105)

Members

• GetControllerTuning
• GetLimits
• GetSingleTrackParameters
• ParseFromJson
• ValidateVehicleJson
• VehicleProperties
• VehicleProperties

Public functions

Function VehicleProperties

simulation_framework::utilities::vehicle::properties::VehicleProperties::VehicleProperties(const std::string &filename)

Construct from filename containing vehicle JSON.

Parameters:

• filename: path to JSON configuration

Exceptions:

• std::runtime_error: on parse/validation failure

Parameters:

• const std::string & filename

Return type:

Function VehicleProperties

simulation_framework::utilities::vehicle::properties::VehicleProperties::VehicleProperties(const nlohmann::json &config)

Construct directly from an already-parsed JSON object.

Parameters:

• config: parsed nlohmann::json containing vehicle parameters

Parameters:

• const nlohmann::json & config

Return type:

Function GetSingleTrackParameters

SingleTrackParameters simulation_framework::utilities::vehicle::properties::VehicleProperties::GetSingleTrackParameters() const

Returns:

single-track geometric parameters (lf, lr)

Return type: SingleTrackParameters

Function GetLimits

Limits simulation_framework::utilities::vehicle::properties::VehicleProperties::GetLimits() const

Returns:

vehicle limits (acceleration, steering)

Return type: Limits

Function GetControllerTuning

ControllerTuning simulation_framework::utilities::vehicle::properties::VehicleProperties::GetControllerTuning() const

Returns:

controller tuning parameters

Return type: ControllerTuning