rz::AdaptivePurePursuitController::Gains struct
#include <include/RaidZeroLib/api/Chassis/AdaptivePurePursuitController.hpp>

Gains that characterize the behavior of the controller.

Constructors, destructors, conversion operators

Gains() defaulted
Sets all gains to zero.
~Gains() defaulted
Destructor.
Gains(QSpeed maxVelocity, QAcceleration maxAcceleration, QAngularSpeed maxTurnVelocity, QLength lookAhead)
Sets all gains to the given values.

Public functions

auto operator==(const Gains& rhs) const -> bool
Checks if two Gains objects are equal.
auto operator!=(const Gains& rhs) const -> bool
Checks if two Gains objects are not equal.

Public variables

QSpeed maxVelocity
QAcceleration maxAcceleration
QAngularSpeed maxTurnVelocity
QLength lookAhead

Function documentation

rz::AdaptivePurePursuitController::Gains::Gains(QSpeed maxVelocity, QAcceleration maxAcceleration, QAngularSpeed maxTurnVelocity, QLength lookAhead)

Sets all gains to the given values.

Parameters
maxVelocity Maximum velocity
maxAcceleration Maximum acceleration
maxTurnVelocity Maximum turn velocity
lookAhead Lookahead distance

bool rz::AdaptivePurePursuitController::Gains::operator==(const Gains& rhs) const

Checks if two Gains objects are equal.

Parameters
rhs The Gains object to compare to
Returns True if the two objects are equal, false otherwise

bool rz::AdaptivePurePursuitController::Gains::operator!=(const Gains& rhs) const

Checks if two Gains objects are not equal.

Parameters
rhs The Gains object to compare to
Returns True if the two objects are not equal, false otherwise