Struct jalansim::dynamics::models::DiffDrivePID

template <typename T>

ClassList > jalansim > dynamics > models > DiffDrivePID

Differential drive robot with PID-controlled wheels. More...

  • #include <diff_drive_pid.hpp>

Public Attributes

Type Name
T kd = 0.0
PID controller gains.
T ki = 0.0
T kp = 0.025
controller::PID< T > pid_l = {kp, ki, [**kd**](structjalansim_1_1dynamics_1_1models_1_1_diff_drive_p_i_d.md#variable-kd), [**w\_min**](structjalansim_1_1dynamics_1_1models_1_1_diff_drive_p_i_d.md#variable-w_min), [**w\_max**](structjalansim_1_1dynamics_1_1models_1_1_diff_drive_p_i_d.md#variable-w_max), [**torque\_min**](structjalansim_1_1dynamics_1_1models_1_1_diff_drive_p_i_d.md#variable-torque_min), [**torque\_max**](structjalansim_1_1dynamics_1_1models_1_1_diff_drive_p_i_d.md#variable-torque_max)}
Left wheel PID controller.
controller::PID< T > pid_r = {kp, ki, [**kd**](structjalansim_1_1dynamics_1_1models_1_1_diff_drive_p_i_d.md#variable-kd), [**w\_min**](structjalansim_1_1dynamics_1_1models_1_1_diff_drive_p_i_d.md#variable-w_min), [**w\_max**](structjalansim_1_1dynamics_1_1models_1_1_diff_drive_p_i_d.md#variable-w_max), [**torque\_min**](structjalansim_1_1dynamics_1_1models_1_1_diff_drive_p_i_d.md#variable-torque_min), [**torque\_max**](structjalansim_1_1dynamics_1_1models_1_1_diff_drive_p_i_d.md#variable-torque_max)}
Right wheel PID controller.
T torque_max = 50.0
Maximum wheel torque (N⋅m)
T torque_min = -50.0
Minimum wheel torque (N⋅m)
T w_max = 20.4082
Maximum wheel angular velocity (rad/s)
T w_min = -20.4082
Minimum wheel angular velocity (rad/s)
T wheel_J = 0.0024
Wheel moment of inertia (kg⋅m²)
T wheel_b = 0.262
Wheelbase/track width (m)
T wheel_r = 0.098
Wheel radius (m)

Public Static Attributes

Type Name
std::size_t INPUT_DIM = 2
Input dimension: [v, omega].
std::size_t STATE_DIM = 5
State dimension: [x, y, theta, wr, wl].

Public Functions

Type Name
JALANSIM_HOST_DEVICE void reset ()
Reset the model and PID controllers to initial state.
JALANSIM_HOST_DEVICE void rhs (const T * x, const T * u, T * dx, T dt)
Compute state derivatives with PID wheel control.

Public Static Functions

Type Name
JALANSIM_HOST_DEVICE T clamp (T v, T lo, T hi)
Clamp a value between lower and upper bounds.

Detailed Description

Implements a differential drive model with closed-loop wheel speed control using PID controllers. Takes high-level velocity commands (linear, angular) and converts them to wheel speed setpoints, then uses PID controllers to generate wheel torques. Models wheel inertia and includes constraints.

State: [x, y, theta, omega_right, omega_left] Input: [linear_velocity, angular_velocity]

Template parameters:

  • T Numeric type (float, double)

Public Attributes Documentation

variable kd

PID controller gains. 

T jalansim::dynamics::models::DiffDrivePID< T >::kd;

variable ki

T jalansim::dynamics::models::DiffDrivePID< T >::ki;

variable kp

T jalansim::dynamics::models::DiffDrivePID< T >::kp;

variable pid_l

Left wheel PID controller. 

controller::PID<T> jalansim::dynamics::models::DiffDrivePID< T >::pid_l;

variable pid_r

Right wheel PID controller. 

controller::PID<T> jalansim::dynamics::models::DiffDrivePID< T >::pid_r;

variable torque_max

Maximum wheel torque (N⋅m) 

T jalansim::dynamics::models::DiffDrivePID< T >::torque_max;

variable torque_min

Minimum wheel torque (N⋅m) 

T jalansim::dynamics::models::DiffDrivePID< T >::torque_min;

variable w_max

Maximum wheel angular velocity (rad/s) 

T jalansim::dynamics::models::DiffDrivePID< T >::w_max;

variable w_min

Minimum wheel angular velocity (rad/s) 

T jalansim::dynamics::models::DiffDrivePID< T >::w_min;

variable wheel_J

Wheel moment of inertia (kg⋅m²) 

T jalansim::dynamics::models::DiffDrivePID< T >::wheel_J;

variable wheel_b

Wheelbase/track width (m) 

T jalansim::dynamics::models::DiffDrivePID< T >::wheel_b;

variable wheel_r

Wheel radius (m) 

T jalansim::dynamics::models::DiffDrivePID< T >::wheel_r;

Public Static Attributes Documentation

variable INPUT_DIM

Input dimension: [v, omega]. 

std::size_t jalansim::dynamics::models::DiffDrivePID< T >::INPUT_DIM;

variable STATE_DIM

State dimension: [x, y, theta, wr, wl]. 

std::size_t jalansim::dynamics::models::DiffDrivePID< T >::STATE_DIM;

Public Functions Documentation

function reset

Reset the model and PID controllers to initial state. 

inline JALANSIM_HOST_DEVICE void jalansim::dynamics::models::DiffDrivePID::reset ()

function rhs

Compute state derivatives with PID wheel control. 

inline JALANSIM_HOST_DEVICE void jalansim::dynamics::models::DiffDrivePID::rhs (
    const T * x,
    const T * u,
    T * dx,
    T dt
)

Parameters:

  • x State vector [x, y, theta, omega_r, omega_l]
  • u Input vector [linear_vel, angular_vel]
  • dx Output state derivatives
  • dt Time step for PID computation and constraints

Public Static Functions Documentation

function clamp

Clamp a value between lower and upper bounds. 

static inline JALANSIM_HOST_DEVICE T jalansim::dynamics::models::DiffDrivePID::clamp (
    T v,
    T lo,
    T hi
)

Parameters:

  • v Value to clamp
  • lo Lower bound
  • hi Upper bound

Returns:

Clamped value

The documentation for this class was generated from the following file include/jalansim/dynamics/models/diff_drive_pid.hpp