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FAROL Documentation

StartPF

FAROL Documentation

Introduction
Get Started
Get Started
- Repository Structure
  Repository Structure
  - General Overview
  - Detailed Overview
  - Use Cases
    Use Cases
    
    WP
    
    PF
    
    CPF
- Install Guide
- Build the Code
Packages documentation
Packages documentation
- Farol Addons
  Farol Addons
  - Dsor Utils
    Dsor Utils
    
    Dsor Msgs
    Dsor Msgs
    
    Documentation
    
    Documentation
    
    Dsor Utils
    Dsor Utils
    
    Documentation
    
    Documentation
    
    Classes
    
    Classes
    
    CircularDelay
    
    CircularDelay::const_iterator
    
    CircularDelay::const_reverse_iterator
    
    CircularDelay::iterator
    
    CircularDelay::reverse_iterator
    
    Differentiator
    
    DigitalFilter
    
    HighPassFilter
    
    HighPassFilter3
    
    LowPassFilter
    
    LowPassFilter2
    
    LowPassFilter3
    
    LowPassFilter3DiffApprox
    
    LowPassFilter3MatchedZ
    
    MovingAvarageFilter
    
    RateLimiter
    
    DSOR::VehicleState
    
    Namespaces
    
    Namespaces
    
    DSOR
    
    tps
  - Farol Docker
    Farol Docker
    
    Documentation
    
    Documentation
  - Libraries
    Libraries
    
    Farol Gimmicks Library
    Farol Gimmicks Library
    
    Documentation
    
    Documentation
    
    Namespaces
    
    Namespaces
    
    FarolGimmicks
  - Farol Scripts
    
    Farol Scripts
    
    Scripts
    Scripts
    
    Bringup scripts
    
    Alias
    
    New packages scripts
    
    Handy bash scripts
  - Http Server
    Http Server
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    console_server
    
    Classes
    
    Classes
    
    console::CallbackEcho
    
    console::ERROR_Struct
    
    console::HTTP_Handler
    
    console::ROSTopicException
    
    console::ROSTopicIOException
    
    console::ThreadedHTTPServer
    
    console::Topic_Struct
    
    console::subscriber_Thread
    
    Namespaces
    
    Namespaces
    
    console
    
    setup
    
    waypoint::srv
  - Remote Controller
    Remote Controller
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    remote_controller
    
    Classes
    
    Classes
    
    RemoteControllerNode::RemoteControllerNode
    
    Namespaces
    
    Namespaces
    
    RemoteControllerNode
  - Console Path Parser
    Console Path Parser
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    console_path_parser
    
    Classes
    
    Classes
    
    ConsolePathParserNode
    
    Formation
    
    Section
- Farol Sim
  Farol Sim
  - Auv Sim
    Auv Sim
    
    Documentation
    
    Documentation
    
    Classes
    
    Classes
    
    AUV
    
    SimulationNode
    
    State
  - Sensor Sim
    Sensor Sim
    
    Documentation
    
    Documentation
    
    Classes
    
    Classes
    
    SensorSim
    
    SensorSim::Sensor
- Farol Msgs
  Farol Msgs
  - Documentation
    
    Documentation
    
    Messages List
    Messages List
    
    CpfFeedback
    
    CPFGamma
    
    Currents
    
    Formation
    
    mPFollowingDebug
    
    mPidDebug
    
    mState
    
    Multisection
    
    MultiTrackingsection
    
    mUSBLFix
    
    ProcessState
    
    Section
    
    TrackingSection
    
    Services
    Services
    
    ManageProcess
- Farol Comms
  Farol Comms
  - Comms Radio
    Comms Radio
    
    Cpf Gamma
    Cpf Gamma
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    cpf_wifi_server
    
    cpd_wifi_client
    
    Classes
    
    Classes
    
    cpf_gamma_ros::CpfGammaClientNode::CpfGammaClientNode
    
    cpf_gamma_ros::CpfGammaServerNode::CpfGammaServerNode
    
    Namespaces
    
    Namespaces
    
    cpf_gamma_ros
    
    cpf_gamma_ros::CpfGammaClientNode
    
    cpf_gamma_ros::CpfGammaServerNode
    
    setup
  - Comms Acoustic
    Comms Acoustic
    
    Data Serializer
    Data Serializer
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    data_serializer
    
    Classes
    
    Classes
    
    data_serializer_ros::DataSerializerNode::DataSerializerNode
    
    Namespaces
    
    Namespaces
    
    data_serializer_algorithms
    
    data_serializer_algorithms::DataSerializerAlgorithm
    
    data_serializer_ros
    
    data_serializer_ros::DataSerializerNode
    
    setup
    
    Comms State Broadcaster
    Comms State Broadcaster
    
    Documentation
    
    Documentation
    
    Node
    Node
    
    gnss2state
    
    Classes
    
    Classes
    
    Gnss2State
    
    Evo Tools
    Evo Tools
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    dmac2farol
    
    pos2sim_modem
    
    Classes
    
    Classes
    
    DmacToFarolNode
    
    pos2simmodem::Pos2SimModem
    
    Namespaces
    
    Namespaces
    
    pos2simmodem
    
    Interrogation Scheme
    Interrogation Scheme
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    pinger
    
    replier
    
    Classes
    
    Classes
    
    AcousticPinger
    
    ReplierNode
- Farol Bringup
  Farol Bringup
  - Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    farol_bringup
  - Classes
    
    Classes
    
    farol_bringup_algorithms::FarolSetup::FarolSetup
    
    farol_bringup_algorithms::FarolSetup::Process
    
    farol_bringup_algorithms::FarolSetup::ProcessActionType
    
    farol_bringup_algorithms::FarolSetup::ProcessNotFound
    
    farol_bringup_ros::FarolBringupVxNode::FarolBringupVxNode
  - Namespaces
    
    Namespaces
    
    farol_bringup_algorithms
    
    farol_bringup_algorithms::FarolSetup
    
    farol_bringup_ros
    
    farol_bringup_ros::FarolBringupVxNode
    
    setup
- Farol Planning
  Farol Planning
  - Dsor Paths
    Dsor Paths
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    dsor_paths
    
    Messages
    Messages
    
    PathData
    
    Services
    Services
    
    ResetPath
    
    SetConstSpeed
    
    SetMode
    
    SpawnArc2D
    
    SpawnBernoulli
    
    SpawnCircle2D
    
    SpawnLine
    
    Implementation
    
    Classes
    
    Classes
    
    Arc2D
    
    Bernoulli
    
    Circle2D
    
    ConstRabbitSpeed
    
    ConstVehicleSpeed
    
    Line
    
    Path
    
    PathNode
    
    PathSection
    
    Polinomial5
    
    Polynomial5
    
    Sinusoid2D
    
    Speed
- Farol Control
  Farol Control
  - Outer Loops Controllers
    Outer Loops Controllers
    
    Cpf Control
    Cpf Control
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    cpf_control
    
    Services
    Services
    
    ChangeTopology
    
    StartStop
    
    Implementation
    
    Classes
    
    Classes
    
    CPFControl
    
    CpfNode
    
    EventTriggered
    
    VehicleInfo
    
    Waypoint
    Waypoint
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    waypoint
    
    Services
    Services
    
    sendWpType1
    
    Classes
    
    Classes
    
    WaypointController
    
    WaypointNode
    
    WpHeading
    
    WpLoose
    
    WpStandard
    
    Output_t
    
    Vehicle_t
    
    WPref_t
    
    Path Following
    Path Following
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    path_following
    
    Services
    Services
    
    ResetVT
    
    SetPF
    
    StartPF
    
    StopPF
    
    UpdateGainsPF
    
    Implementation
    
    Classes
    
    Classes
    
    classAguiar
    
    classBrevik
    
    classFossen
    
    classLapierre
    
    classMarcelo
    
    PathFollowing
    
    PathFollowingNode
    
    Pramod
    
    RelativeHeading
    
    Romulo
    
    classSamson
    
    PFollowingDebug
    
    PathState
    
    VehicleState
  - Inner Loops Controllers
    Inner Loops Controllers
    
    Inner Loops Pid
    Inner Loops Pid
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    inner_loops_pid
    
    Theory
    
    Classes
    
    Classes
    
    Innerloops
    
    PID_Controller
    
    RosController
    
    Safeties
    
    Open Loop Controller
    Open Loop Controller
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    OpenLoop
    
    Theory
    
    Classes
    
    Classes
    
    src::open_loop_controller::OpenLoopNode::OpenLoopNode
    
    Namespaces
    
    Namespaces
    
    setup
    
    src
    
    src::open_loop_controller
    
    src::open_loop_controller::OpenLoopNode
  - Static Thruster Allocation
    Static Thruster Allocation
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    static_thruster_allocation
    
    Classes
    
    Classes
    
    ThrustAllocation
  - Vehicle Stabilizer
    Vehicle Stabilizer
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    vehicle_stabilizer
    
    Classes
    
    Classes
    
    VehicleStabilizerNode
- Farol Nav
  Farol Nav
  - Nav Tools
    Nav Tools
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    auvstate2mstate
    
    gnss2utm
    
    gnss2utmoutlier
    
    usblfix2pos
    
    Classes
    
    Classes
    
    AuvState2mState
    
    Gnss2Utm
    
    Gnss2UtmOutlier
    
    UsblFix2Pos
  - Sensor Fusion
    Sensor Fusion
    
    Documentation
    
    Documentation
    
    Nodes
    Nodes
    
    filter
    
    Theory
    
    Developer Notes
    
    Classes
    
    Classes
    
    DeadReckoning
    
    FiltersNode
    
    HorizontalFilter
    
    RotationalFilter
    
    VerticalFilter
    
    FilterGimmicks::measurement
    
    FilterGimmicks::predicate_frame_id
    
    HorizontalFilter::config
    
    RotationalFilter::config
    
    VerticalFilter::config
    
    Namespaces
    
    Namespaces
    
    FilterGimmicks
Contributing
Contributing

path_following/StartPF

Service to start running the desired PF algorithm.

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bool success

Last update: November 23, 2022