WpHeading

Waypoint controller using surge, surge and yaw rate. Not only can go to waypoint and hold its position but can also maintain heading.

#include <wp_heading.h>

Public Functions

	Name
	WpHeading(ros::Publisher surge_pub, ros::Publisher sway_pub, ros::Publisher yaw_rate_pub)
virtual	~WpHeading()

Public Functions inherited from WaypointController

	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) Computes and publishes the output of the controller.

Protected Functions inherited from WaypointController

	Name
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 inherited from WaypointController

	Name
double	ts_
std::vector< double >	gains_

WpHeading(
    ros::Publisher surge_pub,
    ros::Publisher sway_pub,
    ros::Publisher yaw_rate_pub
)

inline virtual ~WpHeading()

Updated on 2022-09-15 at 17:51:32 +0000

Last update: September 15, 2022