laelaps::LaeTunesPowertrain Class Reference

Laelaps powertrain tuning data class. More...

#include <laeTune.h>

Public Member Functions
	LaeTunesPowertrain ()
	Default constructor.
	~LaeTunesPowertrain ()
	Destructor.
LaeTunesPowertrain &	operator= (const LaeTunesPowertrain &rhs)
	Assignment operator. More...
void	print (const std::string &strKey, int indent=0)
	Print out tuning parameters to stdout. More...

Public Attributes
double	m_fVelPidKp
	motor velocity PID proportional const
double	m_fVelPidKi
	motor velocity PID integral constant
double	m_fVelPidKd
	motor velocity PID derivative constant
double	m_fTireRadius
	tire radius (meters)
double	m_fTireWidth
	tire width (meters)

Detailed Description

Laelaps powertrain tuning data class.

Definition at line 471 of file laeTune.h.

Member Function Documentation

LaeTunesPowertrain & LaeTunesPowertrain::operator=

(

const LaeTunesPowertrain &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

*this

Definition at line 206 of file laeTune.cxx.

References m_fTireRadius, m_fTireWidth, m_fVelPidKd, m_fVelPidKi, and m_fVelPidKp.

{
  m_fVelPidKp   = rhs.m_fVelPidKp;
  m_fVelPidKi   = rhs.m_fVelPidKi;
  m_fVelPidKd   = rhs.m_fVelPidKd;
  m_fTireRadius = rhs.m_fTireRadius;
  m_fTireWidth  = rhs.m_fTireWidth;
}

void LaeTunesPowertrain::print	(	const std::string &	strKey,
		int	indent = 0
	)

Print out tuning parameters to stdout.

Parameters

strKey	Powertrain key.
indent	Left indentation.

Definition at line 215 of file laeTune.cxx.

{
  printf("%*sPowertrains[%s] =\n", indent, "", strKey.c_str());
  printf("%*s{\n", indent, "");

  printf("%*sVelocity PID =\n", indent+2, "");
  printf("%*s{\n", indent+2, "");
  printf("%*sKp = %.4lf\n", indent+4, "", m_fVelPidKp);
  printf("%*sKi = %.4lf\n", indent+4, "", m_fVelPidKi);
  printf("%*sKd = %.4lf\n", indent+4, "", m_fVelPidKd);
  printf("%*s}\n", indent+2, "");

  printf("%*sTires =\n", indent+2, "");
  printf("%*s{\n", indent+2, "");
  printf("%*sRadius = %.3f\n", indent+4, "", m_fTireRadius);
  printf("%*sWidth  = %.3f\n", indent+4, "", m_fTireWidth);
  printf("%*s}\n", indent+2, "");

  printf("%*s}\n", indent, "");
}

---

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

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