SpeedControlMatrix Class Reference

#include <speed.h>

Inheritance diagram for SpeedControlMatrix:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void adjust (float speed, float error, float *brake_req, float *throttle_req)
virtual void configure (art_pilot::PilotConfig &newconfig)
virtual void reset (void)
 SpeedControlMatrix ()
virtual ~SpeedControlMatrix ()

Private Attributes

boost::shared_ptr< Pid > velpid_

Detailed Description

Acceleration matrix speed controller class

Definition at line 81 of file speed.h.


Constructor & Destructor Documentation

SpeedControlMatrix::SpeedControlMatrix (  ) 

Acceleration matrix speed control constructor.

Definition at line 106 of file speed.cc.

SpeedControlMatrix::~SpeedControlMatrix (  )  [virtual]

SpeedControlMatrix destructor

Definition at line 120 of file speed.cc.


Member Function Documentation

void SpeedControlMatrix::adjust ( float  speed,
float  error,
float *  brake_req,
float *  throttle_req 
) [virtual]

Adjust speed to match goal.

Generate brake and throttle changes from velocity PID controller via an acceleration matrix.

Parameters:
speed absolute value of current velocity in m/sec
error immediate goal minus speed
brake_req -> previous brake request (input), updated brake request (output).
throttle_req -> previous throttle request (input), updated throttle request (output).

Implements SpeedControl.

Definition at line 135 of file speed.cc.

void SpeedControlMatrix::configure ( art_pilot::PilotConfig newconfig  )  [virtual]

Configure controller parameters.

Implements SpeedControl.

Definition at line 167 of file speed.cc.

void SpeedControlMatrix::reset ( void   )  [virtual]

Reset speed controller.

Implements SpeedControl.

Definition at line 173 of file speed.cc.


Member Data Documentation

boost::shared_ptr<Pid> SpeedControlMatrix::velpid_ [private]

Definition at line 94 of file speed.h.


The documentation for this class was generated from the following files:
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art_pilot
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Jan 11 09:11:53 2013