pilot::AccelPlan Class Reference

#include <accel_plan.h>

Inheritance diagram for pilot::AccelPlan:
Inheritance graph
[legend]

List of all members.

Public Types

typedef boost::shared_ptr
< device_interface::ServoDeviceBase
ServoPtr

Public Member Functions

 AccelPlan (art_pilot::PilotConfig &config)
virtual void adjust (art_msgs::PilotState &pstate, ServoPtr brake, ServoPtr throttle)
virtual void reconfigure (art_pilot::PilotConfig &newconfig)
virtual void reset (void)
virtual ~AccelPlan ()

Private Member Functions

void adjustVelocity (art_msgs::PilotState &pstate, ServoPtr brake, ServoPtr throttle)

Private Attributes

float accel_
boost::shared_ptr< Pid > brake_pid_
bool braking_
ros::Time prev_cycle_
float speed_
boost::shared_ptr< Pid > throttle_pid_

Detailed Description

Simple example acceleration controller.

Definition at line 28 of file accel_plan.h.


Member Typedef Documentation

Shared pointer to servo device instance.

Reimplemented from pilot::AccelBase.

Definition at line 35 of file accel_plan.h.


Constructor & Destructor Documentation

pilot::AccelPlan::AccelPlan ( art_pilot::PilotConfig config  ) 

Definition at line 33 of file accel_plan.cc.

pilot::AccelPlan::~AccelPlan (  )  [virtual]

Definition at line 44 of file accel_plan.cc.


Member Function Documentation

void pilot::AccelPlan::adjust ( art_msgs::PilotState &  pstate,
ServoPtr  brake,
ServoPtr  throttle 
) [virtual]

Adjust acceleration to match target.

Parameters:
pstate current pilot state
brake shared pointer to brake servo device interface
throttle shared pointer to throttle servo device interface

Implements pilot::AccelBase.

Definition at line 46 of file accel_plan.cc.

void pilot::AccelPlan::adjustVelocity ( art_msgs::PilotState &  pstate,
ServoPtr  brake,
ServoPtr  throttle 
) [private]

Adjust velocity to match target.

Precondition:
pstate.plan reflects planned velocity change
Parameters:
pstate current pilot state
brake shared pointer to brake servo device interface
throttle shared pointer to throttle servo device interface

Definition at line 110 of file accel_plan.cc.

void pilot::AccelPlan::reconfigure ( art_pilot::PilotConfig newconfig  )  [virtual]

Reconfigure controller parameters.

allocate appropriate speed control subclass for this configuration

Implements pilot::AccelBase.

Definition at line 172 of file accel_plan.cc.

void pilot::AccelPlan::reset ( void   )  [virtual]

Reset controller.

reset controller

Implements pilot::AccelBase.

Definition at line 183 of file accel_plan.cc.


Member Data Documentation

float pilot::AccelPlan::accel_ [private]

Definition at line 66 of file accel_plan.h.

boost::shared_ptr<Pid> pilot::AccelPlan::brake_pid_ [private]

Definition at line 72 of file accel_plan.h.

Definition at line 70 of file accel_plan.h.

ros::Time pilot::AccelPlan::prev_cycle_ [private]

Definition at line 67 of file accel_plan.h.

float pilot::AccelPlan::speed_ [private]

Definition at line 65 of file accel_plan.h.

boost::shared_ptr<Pid> pilot::AccelPlan::throttle_pid_ [private]

Definition at line 73 of file accel_plan.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 09:11:54 2013