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bool | is_aeb_active () const |
| | Returns true if the AEB is reported active.
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bool | is_fct_active () const |
| | Returns true if the controller reports to have control.
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bool | is_active () const |
| | Returns true if either AEB or FCT is reported active.
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| bool | is_consistent () const |
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Duration | time {0} |
| | The simulation time that the rest of the struct describes.
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uint64_t | step {0} |
| | The simulation step that the rest of the struct describes.
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bool | aeb_active {false} |
| | Whether AEB is currently triggered.
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ActuationLevel | fct_control {ActuationLevel::None} |
| | The official state of control that the actuator should have.
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boost::optional< double > | fct_set_speed |
| | The desired set speed of the controller [m/s].
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boost::optional< double > | fct_time_gap |
| | The desired time gap of the controller [s].
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boost::optional< double > | fct_speed_limiter_velocity |
| | The desired speed limiter velocity of the controller [m/s].
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int | fct_speed_limiter_state |
| | The desired speed limiter velocity of the controller [m/s].
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boost::optional< double > | acceleration |
| | The acceleration request of the controller in [m/s^2].
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boost::optional< double > | steering_angle |
| | The steering angle request of the controller in [rad].
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boost::optional< double > | steering_torque |
| | The steering torque request of the controller in [Nm].
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◆ is_consistent()
| bool cloe::utility::ActuationState::is_consistent |
( |
| ) |
const |
Returns true if the controller state is consistent with the level of control it reports.
- When control is NONE or STANDBY, then no actuation should occur.
- steering_torque and steering_angle should not be set at the same time.
- longitudinal and/or lateral movement only if control mode allows it
- AEB functionality is always allowed, but only allows deceleration.
The documentation for this struct was generated from the following files:
- /home/docs/checkouts/readthedocs.org/user_builds/cloe/checkouts/latest/models/include/cloe/utility/actuation_state.hpp
- /home/docs/checkouts/readthedocs.org/user_builds/cloe/checkouts/latest/models/src/cloe/utility/actuation_state.cpp
1.9.1 
