pilot::AccelPlan Class Reference

#include <accel_plan.h>

Inheritance diagram for pilot::AccelPlan:

[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_

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Detailed Description

Simple example acceleration controller.

Definition at line 28 of file accel_plan.h.

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Member Typedef Documentation

typedef boost::shared_ptr<device_interface::ServoDeviceBase> pilot::AccelPlan::ServoPtr

Shared pointer to servo device instance.

Reimplemented from pilot::AccelBase.

Definition at line 35 of file accel_plan.h.

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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.

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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.

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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.

bool pilot::AccelPlan::braking_ [private]

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.

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The documentation for this class was generated from the following files:

• accel_plan.h
• accel_plan.cc