Function __solver_fb_unclosed

Function Documentation

arma::vec __solver_fb_unclosed(const arma::cube &p_ggv, const arma::mat &ax_max_machines, double v_max, const arma::vec &radii, const arma::vec &el_lengths, double v_start, double drag_coeff, double m_veh, const string &op_mode, const arma::vec &mu = arma::vec(), double v_end = numeric_limits<double>::quiet_NaN(), double dyn_model_exp = 1.0)

Not to be called outside of the speed profile source code. Calculate the speed profile of an unclosed section of the raceline.

Parameters:

  • p_ggv – ggv-diagram to be applied: [vx, ax_max, ay_max]. Velocity in m/s, accelerations in m/s2. Copied for each point of the raceline.

  • ax_max_machines – longitudinal acceleration limits by the electrical motors: [vx, ax_max_machines]. Velocity in m/s, accelerations in m/s2.

  • v_max – maximum velocity in m/s.

  • radii – curvature of every point in the raceline in radii.

  • el_lengths – lenghts of every segment of the raceline.

  • v_start – the velocity of the first point in the raceline.

  • drag_coeff – drag coefficients.

  • m_veh – vehicle mass in kg.

  • op_mode – should always be “ggv”.

  • mu – friction coefficients.

  • v_end – velocity of the last point in the raceline.

  • dyn_model_exp – exponent used in the vehicle dynamics model.

Returns:

arma::vec the speed profile.