def vehicle_info_updated(self, vehicle_info):
"""
Stores the ackermann drive message for the next controller calculation
:param ros_ackermann_drive: the current ackermann control input
:type ros_ackermann_drive: ackermann_msgs.AckermannDrive
:return:
"""
# set target values
self.vehicle_info = vehicle_info
# calculate restrictions
self.info.restrictions.max_steering_angle = phys.get_vehicle_max_steering_angle(
self.vehicle_info)
self.info.restrictions.max_speed = phys.get_vehicle_max_speed(
self.vehicle_info)
self.info.restrictions.max_accel = phys.get_vehicle_max_acceleration(
self.vehicle_info)
self.info.restrictions.max_decel = phys.get_vehicle_max_deceleration(
self.vehicle_info)
self.info.restrictions.min_accel = rospy.get_param(
'/carla/ackermann_control/min_accel', 1.)
# clipping the pedal in both directions to the same range using the usual lower
# border: the max_accel to ensure the the pedal target is in symmetry to zero
self.info.restrictions.max_pedal = min(
self.info.restrictions.max_accel, self.info.restrictions.max_decel)
def vehicle_info_updated(self, carMass=None):
"""
Stores the car info for the next controller calculation
:return:
"""
# set target values
self.vehicle_info = {}
if carMass is not None:
self.vehicle_info['mass'] = carMass
# calculate restrictions
self.info['restrictions']['max_speed'] = phys.get_vehicle_max_speed(
self.vehicle_info)
self.info['restrictions'][
'max_accel'] = phys.get_vehicle_max_acceleration(self.vehicle_info)
self.info['restrictions'][
'max_decel'] = phys.get_vehicle_max_deceleration(self.vehicle_info)
self.info['restrictions']['min_accel'] = 1.0
# clipping the pedal in both directions to the same range using the usual lower
# border: the max_accel to ensure the the pedal target is in symmetry to zero
self.info['restrictions']['max_pedal'] = min(
self.info['restrictions']['max_accel'],
self.info['restrictions']['max_decel'])
def vehicle_info_updated(self, vehicle_info):
"""
Function used to store the ackermann drive info messages for the next controller calculation
:param vehicle_info: current ackermann vehicle control info
:type vehicle_info: ackermann_msgs.AckermannDrive
:return:
"""
# set target values
self.vehicle_info = vehicle_info
# calculate restrictions
self.info.restrictions.max_steering_angle = phys.get_vehicle_max_steering_angle(self.vehicle_info)
self.info.restrictions.max_speed = phys.get_vehicle_max_speed(self.vehicle_info)
self.info.restrictions.max_accel = phys.get_vehicle_max_accelaration(self.vehicle_info)
self.info.restrictions.max_decel = phys.get_vehicle_max_decelaration(self.vehicle_info)
self.info.restrictions.min_accel = rospy.get_param('/carla/ackermann_control/min_accel', 1.)
# clipping the pedal in both directions to the same range using the usual lower border.
# The max acceleration to ensure the pedal target is in symetry to zero.
self.info.restrictions.max_pedal = min(self.info.restrictions.max_accel, self.info.restrictions.max_decel)