WaypointController
Abstract class of a waypoint controller.
#include <wp_controller.h>
Inherited by WpHeading, WpLoose, WpStandard
Public Functions
| Name | |
|---|---|
| WaypointController() | |
| virtual | ~WaypointController() |
| void | setFrequency(const double & f) Mutator for setting the controller period. |
| void | setGains(const std::vector< double > & gains) Mutator for updating the gains. |
| void | compute(Vehicle_t state, WPref_t wp_ref, bool turn_radius_flag) Computes and publishes the output of the controller. |
Protected Functions
| Name | |
|---|---|
| virtual void | publish() =0 Virtual function to publish the output of the controller. |
| virtual void | calculateRef(Vehicle_t state, WPref_t wp_ref, bool turn_radius_bool) =0 Virtual function to compute the waypoint controller. |
| double | getYawOut() Getter of the yaw reference (output of controller) |
| double | getYawrateOut() Getter of the yaw rate reference (output of controller) |
| double | getSurgeOut() Getter of the surge reference (output of controller) |
| double | getSwayOut() Getter of the sway reference (output of controller) |
| void | setYawOut(const double & value) Yaw reference setter (output of controller) |
| void | setYawrateOut(const double & value) Yaw rate reference setter (output of controller) |
| void | setSurgeOut(const double & value) Surge reference setter (output of controller) |
| void | setSwayOut(const double & value) Sway reference setter (output of controller) |
Protected Attributes
| Name | |
|---|---|
| double | ts_ |
| std::vector< double > | gains_ |
Public Functions Documentation
function WaypointController
inline WaypointController()
function ~WaypointController
inline virtual ~WaypointController()
function setFrequency
inline void setFrequency(
const double & f
)
Mutator for setting the controller period.
Parameters:
- f frequency of the main loop
function setGains
inline void setGains(
const std::vector< double > & gains
)
Mutator for updating the gains.
Parameters:
- gains parameters of the waypoiny controller
function compute
inline void compute(
Vehicle_t state,
WPref_t wp_ref,
bool turn_radius_flag
)
Computes and publishes the output of the controller.
Parameters:
- state
- wp_ref
Protected Functions Documentation
function publish
virtual void publish() =0
Virtual function to publish the output of the controller.
Reimplemented by: WpLoose::publish, WpHeading::publish, WpStandard::publish
function calculateRef
virtual void calculateRef(
Vehicle_t state,
WPref_t wp_ref,
bool turn_radius_bool
) =0
Virtual function to compute the waypoint controller.
Parameters:
- state
- wp_ref
Reimplemented by: WpLoose::calculateRef, WpHeading::calculateRef, WpStandard::calculateRef
function getYawOut
inline double getYawOut()
Getter of the yaw reference (output of controller)
Return: yaw ref
function getYawrateOut
inline double getYawrateOut()
Getter of the yaw rate reference (output of controller)
Return: yaw rate ref
function getSurgeOut
inline double getSurgeOut()
Getter of the surge reference (output of controller)
Return: surge ref
function getSwayOut
inline double getSwayOut()
Getter of the sway reference (output of controller)
Return: sway ref
function setYawOut
inline void setYawOut(
const double & value
)
Yaw reference setter (output of controller)
Parameters:
- value yaw ref
function setYawrateOut
inline void setYawrateOut(
const double & value
)
Yaw rate reference setter (output of controller)
Parameters:
- value yaw rate ref
function setSurgeOut
inline void setSurgeOut(
const double & value
)
Surge reference setter (output of controller)
Parameters:
- value surge ref
function setSwayOut
inline void setSwayOut(
const double & value
)
Sway reference setter (output of controller)
Parameters:
- value sway ref
Protected Attributes Documentation
variable ts_
double ts_ {0.0};
variable gains_
std::vector< double > gains_;
Updated on 2024-03-07 at 10:30:50 +0000