Class FeedForwardAction

Class Documentation

class FeedForwardAction

Public Functions

FeedForwardAction()

Constructor for the feedforward action class.

void initialize(const bool &path_based_only, const int &num_points, const int &delay_ff_action, const float &wheelbase, const float &max_steer, const float &beta_ff_gain, const float &averaging_ff_gain, const std::vector<float> &path_curvature)

set the parameters for the steering controller

Parameters:

  • num_points – Number of points in the path

  • max_steer – Maximum steering angle (in radians)

  • beta_ff_gain – Gain for the feedforward action

  • averaging_ff_gain – Average ff action [0,1]. 0 means no averaging (take new value only)

  • path_curvature – Curvature of the path

float feedforward_action(int nearest_index, float current_steering_angle)

Calculate the feedforward action for steering control.

Parameters:

  • nearest_index – Index of the nearest point in the path

  • current_steering_angle – Current steering angle