laelaps::LaeTunes Class Reference

Laelaps tuning data class. More...

#include <laeTune.h>

Public Types
typedef std::map< std::string, LaeTunesPowertrain >	LaeTunesMapPtp
typedef std::map< std::string, LaeTunesVL6180 >	LaeTunesMapVL6180

Public Member Functions
	LaeTunes ()
	Default constructor.
	~LaeTunes ()
	Destructor.
double	getImuHz () const
	Get IMU tasks thread cycle rate tune parameter (hertz). More...
double	getKinematicsHz () const
	Get kinematics thread cycle rate tune parameter (hertz). More...
double	getRangeHz () const
	Get range sensing thread cycle rate tune parameter (hertz). More...
double	getWatchDogTimeout () const
	Get watchdog timeout (seconds). More...
double	getVelocityDerate () const
	Get derated velocity tune parameter (normalized). More...
void	getTrajectoryParams (LaeNorm &eNorm, double &fEpsilon) const
	Get trajectory tune parameters. More...
void	getBattOpRangeParams (double &fBattMinV, double &fBattMaxV) const
	Get battery minimum and maximum allowed operating range voltages tune parameters. More...
void	getVelPidKParams (const std::string &strName, double &fKp, double &fKi, double &fKd) const
	Get motor velocity PID K tune parameters. More...
void	getTireDimParams (const std::string &strName, double &fTireRadius, double &fTireWidth) const
	Get tire dimensions tune parameters. More...
std::string	mapToPtp (const std::string &strKey) const
void	getVL6180Params (const std::string &strName, int &nTofOffset, int &nTofCrossTalk, double &fAlsGain, int &nAlsIntPeriod) const
	Get VL6180 range sensor tune parameters. More...
void	print (int indent=0)
	Print out tuning parameters to stdout. More...

Public Attributes
double	m_fImuHz
	kinematic thread rate (hertz)
double	m_fKinematicsHz
	kinematic thread rate (hertz)
double	m_fRangeHz
	kinematic thread rate (hertz)
double	m_fWatchDogTimeout
	watchdog timeout (seconds)
double	m_fVelDerate
	velocity derate (fraction)
LaeNorm	m_eTrajNorm
	trajectory distanct norm
double	m_fTrajEpsilon
	trajectory epsilon distance (radians)
LaeTunesBattery	m_battery
	battery tuning
LaeTunesMapPtp	m_mapPtp
	powertrain pair tuning
LaeTunesMapVL6180	m_mapVL6180
	range sensors tuning

Detailed Description

Laelaps tuning data class.

Definition at line 566 of file laeTune.h.

Member Typedef Documentation

typedef std::map<std::string, LaeTunesPowertrain> laelaps::LaeTunes::LaeTunesMapPtp

Map of powertrain pair tuning parameters.

Definition at line 570 of file laeTune.h.

typedef std::map<std::string, LaeTunesVL6180> laelaps::LaeTunes::LaeTunesMapVL6180

Map of VL6180 range sensor tuning parameters.

Definition at line 573 of file laeTune.h.

Member Function Documentation

void LaeTunes::getBattOpRangeParams	(	double &	fBattMinV,
		double &	fBattMaxV
	)		const

Get battery minimum and maximum allowed operating range voltages tune parameters.

Parameters

[out]	fBattMinV	Minimum battery voltage.
[out]	fBattMaxV	Maximum battery voltage.

Definition at line 350 of file laeTune.cxx.

{
  fBattMinV = m_battery.m_fMinV;
  fBattMaxV = m_battery.m_fMaxV;
}

double LaeTunes::getImuHz

(

)

const

Get IMU tasks thread cycle rate tune parameter (hertz).

Returns

Hertz.

Definition at line 319 of file laeTune.cxx.

Referenced by laelaps::LaeThreadImu::reload(), and laelaps::LaeRobot::startCoreThreads().

{
  return m_fImuHz;
}

double LaeTunes::getKinematicsHz

(

)

const

Get kinematics thread cycle rate tune parameter (hertz).

Returns

Hertz.

Definition at line 324 of file laeTune.cxx.

Referenced by laelaps::LaeThreadKin::reload(), and laelaps::LaeRobot::startCoreThreads().

{
  return m_fKinematicsHz;
}

double LaeTunes::getRangeHz

(

)

const

Get range sensing thread cycle rate tune parameter (hertz).

Returns

Hertz.

Definition at line 329 of file laeTune.cxx.

Referenced by laelaps::LaeThreadRange::reload(), and laelaps::LaeRobot::startCoreThreads().

{
  return m_fRangeHz;
}

void LaeTunes::getTireDimParams	(	const std::string &	strName,
		double &	fTireRadius,
		double &	fTireWidth
	)		const

Get tire dimensions tune parameters.

Parameters

	strName	Name of powertrain or powertrain pair. One of: front left_front right_front rear left_rear right_rear.
[out]	fTireRadius	Tire radius (meters).
[out]	fTireWidth	Tire width (meters).

Definition at line 382 of file laeTune.cxx.

References laelaps::LaeTunesPowertrain::m_fTireRadius, and laelaps::LaeTunesPowertrain::m_fTireWidth.

Referenced by laelaps::LaePlatform::configure(), and laelaps::LaePowertrain::configure().

{
  string    strKey;
  LaeTunesMapPtp::const_iterator pos;

  strKey = mapToPtp(strName);

  if( (pos = m_mapPtp.find(strKey)) != m_mapPtp.end() )
  {
    fTireRadius = pos->second.m_fTireRadius;
    fTireWidth  = pos->second.m_fTireWidth;
  }
  else
  {
    LaeTunesPowertrain dft;   // default parameters

    fTireRadius = dft.m_fTireRadius;
    fTireWidth  = dft.m_fTireWidth;
  }
}

void LaeTunes::getTrajectoryParams	(	LaeNorm &	eNorm,
		double &	fEpsilon
	)		const

Get trajectory tune parameters.

Parameters

[out]	eNorm	Distance norm.
[out]	fEpsilon	Waypoint precision (radians)

Definition at line 344 of file laeTune.cxx.

{
  eNorm     = m_eTrajNorm;
  fEpsilon  = m_fTrajEpsilon;
}

double LaeTunes::getVelocityDerate

(

)

const

Get derated velocity tune parameter (normalized).

Returns

Derated value [0.0, 1.0].

Definition at line 339 of file laeTune.cxx.

{
  return m_fVelDerate;
}

void LaeTunes::getVelPidKParams	(	const std::string &	strName,
		double &	fKp,
		double &	fKi,
		double &	fKd
	)		const

Get motor velocity PID K tune parameters.

Parameters

	strName	Name of powertrain or powertrain pair. One of: front left_front right_front rear left_rear right_rear.
[out]	fKp	Proportional constant.
[out]	fKi	Integral constant.
[out]	fKd	Derivative constant.

Definition at line 356 of file laeTune.cxx.

References laelaps::LaeTunesPowertrain::m_fVelPidKd, laelaps::LaeTunesPowertrain::m_fVelPidKi, and laelaps::LaeTunesPowertrain::m_fVelPidKp.

Referenced by laelaps::LaeKinematics::configMotorVelocityPid().

{
  string    strKey;
  LaeTunesMapPtp::const_iterator pos;

  strKey = mapToPtp(strName);

  if( (pos = m_mapPtp.find(strKey)) != m_mapPtp.end() )
  {
    fKp = pos->second.m_fVelPidKp;
    fKi = pos->second.m_fVelPidKi;
    fKd = pos->second.m_fVelPidKd;
  }
  else
  {
    LaeTunesPowertrain dft;   // default parameters

    fKp = dft.m_fVelPidKp;
    fKi = dft.m_fVelPidKi;
    fKd = dft.m_fVelPidKd;
  }
}

void LaeTunes::getVL6180Params	(	const std::string &	strName,
		int &	nTofOffset,
		int &	nTofCrossTalk,
		double &	fAlsGain,
		int &	nAlsIntPeriod
	)		const

Get VL6180 range sensor tune parameters.

Parameters

	strName	Name of range sensor (key)
[out]	nTofOffset	ToF part-to-part offset
[out]	nTofCrossTalk	ToF cross-talk compensation
[out]	fAlsGain	ALS analog gain
[out]	nAlsIntPeriod	ALS integration period

Definition at line 421 of file laeTune.cxx.

References laelaps::LaeTunesVL6180::m_fAlsGain, laelaps::LaeTunesVL6180::m_nAlsIntPeriod, laelaps::LaeTunesVL6180::m_nTofCrossTalk, and laelaps::LaeTunesVL6180::m_nTofOffset.

Referenced by sensor::vl6180::LaeVL6180MuxArray::configure(), and sensor::vl6180::LaeRangeMuxSubproc::configure().

{
  LaeTunesMapVL6180::const_iterator pos;

  if( (pos = m_mapVL6180.find(strName)) != m_mapVL6180.end() )
  {
    nTofOffset    = pos->second.m_nTofOffset;
    nTofCrossTalk = pos->second.m_nTofCrossTalk;
    fAlsGain      = pos->second.m_fAlsGain;
    nAlsIntPeriod = pos->second.m_nAlsIntPeriod;
  }
  else
  {
    LaeTunesVL6180 dft;     // default parameters

    nTofOffset    = dft.m_nTofOffset;
    nTofCrossTalk = dft.m_nTofCrossTalk;
    fAlsGain      = dft.m_fAlsGain;
    nAlsIntPeriod = dft.m_nAlsIntPeriod;
  }
}

double LaeTunes::getWatchDogTimeout

(

)

const

Get watchdog timeout (seconds).

Returns

Seconds.

Definition at line 334 of file laeTune.cxx.

Referenced by laelaps::LaeWd::configure(), and laelaps::LaeRobot::startCoreThreads().

{
  return m_fWatchDogTimeout;
}

string LaeTunes::mapToPtp

(

const std::string &

strKey

)

const

Map powertrain (pair) key to powertrain pair key.

Parameters

strKey

Powertrain (pair) key.

Returns

"front" or "rear"

Definition at line 405 of file laeTune.cxx.

References laelaps::LaeKeyFront, laelaps::LaeKeyLeftFront, laelaps::LaeKeyRear, and laelaps::LaeKeyRightFront.

{
  if( (strKey == LaeKeyFront) || (strKey == LaeKeyRear) )
  {
    return strKey;
  }
  else if( (strKey == LaeKeyLeftFront) || (strKey == LaeKeyRightFront) )
  {
    return LaeKeyFront;
  }
  else
  {
    return LaeKeyRear;
  }
}

void LaeTunes::print

(

int

indent = 0

)

Print out tuning parameters to stdout.

Parameters

indent

Left indentation.

Definition at line 447 of file laeTune.cxx.

References laelaps::radToDeg().

Referenced by mainInit().

{
  LaeTunesMapPtp::iterator      iPtp;
  LaeTunesMapVL6180::iterator   iSensor;

  printf("%*sGlobals =\n", indent, "");
  printf("%*s{\n", indent, "");

  printf("%*sThreads =\n", indent+2, "");
  printf("%*s{\n", indent+2, "");
  printf("%*sIMU Thread Hertz        = %.1lf\n", indent+4, "", m_fImuHz);
  printf("%*sKinematics Thread Hertz = %.1lf\n", indent+4, "",
      m_fKinematicsHz);
  printf("%*sRange Thread Hertz      = %.1lf\n", indent+4, "", m_fRangeHz);
  printf("%*s}\n", indent+2, "");

  printf("%*sTrajectory =\n", indent+2, "");
  printf("%*s{\n", indent+2, "");
  printf("%*sNorm    = %d\n", indent+4, "", m_eTrajNorm);
  printf("%*sEpsilon = %lf\n", indent+4, "", radToDeg(m_fTrajEpsilon));
  printf("%*s}\n", indent+2, "");

  printf("%*sVelocity Derate = %.1lf\n", indent+2, "", m_fVelDerate * 100.0);
  printf("%*s}\n", indent, "");

  m_battery.print(indent);

  for(iPtp = m_mapPtp.begin(); iPtp != m_mapPtp.end(); ++iPtp)
  {
    iPtp->second.print(iPtp->first, indent);
  }

  for(iSensor = m_mapVL6180.begin(); iSensor != m_mapVL6180.end(); ++iSensor)
  {
    iSensor->second.print(iSensor->first, indent);
  }
}

---

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

• include/Laelaps/laeTune.h
• sw/liblaelaps/laeTune.cxx