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toys/ads/include/control/control_params.h

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  1. #pragma once

  2. 

  3. struct LatControlParams

  4. {

  5.     /// \brief Corner stiffness; front

  6.     double cf;

  7.     /// \brief Corner stiffness; rear

  8.     double cr;

  9.     /// \brief Distance between front and rear wheel center

  10.     double wheelbase;

  11.     /// \brief Mass of the vehicle

  12.     double mass;

  13.     /// \brief Distance from front wheel center to COM

  14.     double lf;

  15.     /// \brief Distance from rear wheel center to COM

  16.     double lr;

  17.     /// \brief Rotational inertia

  18.     double iz;

  19.     /// \brief Matrix_k_(0,2) weight parameters

  20.     double weight_param;

  21.     /// \brief

  22.     double y_weight_param;

  23.     /// \brief

  24.     double heading_weight_param;

  25.     /// \brief

  26.     double forward_param;

  27.     /// \brief

  28.     double weight_param_lat;

  29. };