ap_trajectory_tracking.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Jan Lauermann - initial API and implementation
 ********************************************************************************/
 
#pragma once
 
namespace adore
{
    namespace params
    {
        class APTrajectoryTracking
        {
 
        public:
            virtual double getKey()const =0;
 
            virtual double getKepsi()const =0;
 
            virtual double getKeomega()const =0;
 
            virtual double getKIy()const =0;
 
            virtual double getKIx()const =0;
 
            virtual double getK0x()const =0;
 
            virtual double getK1x()const =0;
 
            virtual double getMuCtrlMax()const =0;
 
            virtual double getAxMax()const =0;
 
            virtual double getAxMin()const =0;
 
            virtual double getExStatic()const =0;
 
            virtual double getEyStatic()const =0;
 
            virtual double getDeltaMax()const=0;
 
            virtual double getDeltaMin()const=0;
 
            virtual double getDDeltaMax()const =0;
 
            virtual double getBrakingTorqueGain()const =0;
 
            virtual double getDBrakingTorqueMax()const =0;
            
            virtual double getKPev_r()const =0;
 
            virtual double getKIev_r()const =0;
 
            virtual double getKPex_r()const =0;
            
            virtual double getKIex_r()const =0;
 
            virtual double getKPey_r()const =0;
 
            virtual double getKPepsi_r()const =0;
            
            virtual double getKIepsi_r()const =0;
 
            virtual double getSteeringRateLimiterGain()const =0;
        };
    }
}