PxVehicleCommandNonLinearResponseParams
Defined in include/vehicle2/commands/PxVehicleCommandParams.h
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class PxVehicleCommandNonLinearResponseParams
Note
Brake, drive and steer response typically reduce at increased longitudinal speed. Moreover, response to a brake, throttle or steer command is typically nonlinear and may be subject to dead zones where response is constant with either zero or non-zero response. PxVehicleCommandNonLinearResponseParams allows command responses to be authored as multi-variate piecewise polynomials with normalized command response a function of command value and longitudinal speed.
Public Functions
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inline PxVehicleCommandNonLinearResponseParams()
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inline void clear()
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inline bool addResponse(const PxVehicleCommandValueResponseTable &commandValueSpeedResponses)
Add a table of normalised response vs speed and associated it with a specified command value.
Note
commandValueSpeedResponses must be authored as a series of monotonically increasing series of speeds with form {speed, normalizedResponse}
Note
The responses added must form a series of monotonically increasing commands.
Public Members
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PxReal speedResponses[PxVehicleCommandValueResponseTable::eMAX_NB_SPEED_RESPONSES * 2]
A ragged array of speeds and normalized responses.
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PxU16 speedResponsesPerCommandValue[eMAX_NB_COMMAND_VALUES]
The table of speed responses for the ith command value begins at speedResponses[2*speedResponsesPerCommandValue[i]].
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PxU16 nbSpeedRenponsesPerCommandValue[eMAX_NB_COMMAND_VALUES]
The ith command value has N speed responses with N = nbSpeedRenponsesPerCommandValue[i].
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PxReal commandValues[eMAX_NB_COMMAND_VALUES]
The command values.
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inline PxVehicleCommandNonLinearResponseParams()