Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes
PathFollower Class Reference

#include <PathFollower.h>

List of all members.

Public Member Functions

virtual RTC::ReturnCode_t onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onInitialize ()
 PathFollower (RTC::Manager *manager)
 ~PathFollower ()

Protected Attributes

double m_control_cycle
double m_line_C1
double m_line_Dist
double m_line_K1
double m_line_K2
double m_line_K3
double m_max_acc_v
double m_max_acc_w
double m_max_v
double m_max_w
IIS::TimedPose2D m_position
InPort< IIS::TimedPose2D > m_positionIn
Path m_target_path
InPort< Path > m_target_pathIn
IIS::TimedVelocity2D m_velocity
OutPort< IIS::TimedVelocity2D > m_velocityOut

Private Member Functions

double circle_follow (double x, double y, double theta, double cx, double cy, double cradius, double v_max)
double dist_pos (double x, double y, double tx, double ty)
void finalizePathFollower (void)
void initPathFollower (void)
double line_follow (double x, double y, double theta, double cx, double cy, double ctheta, double v_max)
void path_following (double x, double y, double theta)
double regurator (double d, double q, double r, double v_max)
int robot_speed_smooth (double v, double w)
double spin (double theta, double target_theta, double w_max)
int to_point (double x, double y, double theta, double tx, double ty, double ttheta, double max_vel)

Private Attributes

int do_control
int dummy
double now_theta
double now_x
double now_y
double path_d
double path_theta
double path_v
double path_w
double path_x
double path_y
int run_mode
double target_v
double target_w

Detailed Description

Definition at line 25 of file PathFollower.h.


Constructor & Destructor Documentation

PathFollower::PathFollower ( RTC::Manager *  manager)

Definition at line 42 of file PathFollower.cpp.

Definition at line 61 of file PathFollower.cpp.


Member Function Documentation

double PathFollower::circle_follow ( double  x,
double  y,
double  theta,
double  cx,
double  cy,
double  cradius,
double  v_max 
) [private]

Definition at line 31 of file control.cpp.

double PathFollower::dist_pos ( double  x,
double  y,
double  tx,
double  ty 
) [private]

Definition at line 125 of file control.cpp.

void PathFollower::finalizePathFollower ( void  ) [private]

Definition at line 282 of file control.cpp.

void PathFollower::initPathFollower ( void  ) [private]

Definition at line 265 of file control.cpp.

double PathFollower::line_follow ( double  x,
double  y,
double  theta,
double  cx,
double  cy,
double  ctheta,
double  v_max 
) [private]

Definition at line 49 of file control.cpp.

RTC::ReturnCode_t PathFollower::onActivated ( RTC::UniqueId  ec_id) [virtual]

Definition at line 87 of file PathFollower.cpp.

RTC::ReturnCode_t PathFollower::onExecute ( RTC::UniqueId  ec_id) [virtual]

Definition at line 93 of file PathFollower.cpp.

RTC::ReturnCode_t PathFollower::onInitialize ( ) [virtual]

Definition at line 66 of file PathFollower.cpp.

void PathFollower::path_following ( double  x,
double  y,
double  theta 
) [private]

Definition at line 215 of file control.cpp.

double PathFollower::regurator ( double  d,
double  q,
double  r,
double  v_max 
) [private]

Definition at line 72 of file control.cpp.

int PathFollower::robot_speed_smooth ( double  v,
double  w 
) [private]

Definition at line 161 of file control.cpp.

double PathFollower::spin ( double  theta,
double  target_theta,
double  w_max 
) [private]

Definition at line 103 of file control.cpp.

int PathFollower::to_point ( double  x,
double  y,
double  theta,
double  tx,
double  ty,
double  ttheta,
double  max_vel 
) [private]

Definition at line 133 of file control.cpp.


Member Data Documentation

int PathFollower::do_control [private]

Definition at line 85 of file PathFollower.h.

int PathFollower::dummy [private]

Definition at line 69 of file PathFollower.h.

double PathFollower::m_control_cycle [protected]

Definition at line 50 of file PathFollower.h.

double PathFollower::m_line_C1 [protected]

Definition at line 45 of file PathFollower.h.

double PathFollower::m_line_Dist [protected]

Definition at line 49 of file PathFollower.h.

double PathFollower::m_line_K1 [protected]

Definition at line 46 of file PathFollower.h.

double PathFollower::m_line_K2 [protected]

Definition at line 47 of file PathFollower.h.

double PathFollower::m_line_K3 [protected]

Definition at line 48 of file PathFollower.h.

double PathFollower::m_max_acc_v [protected]

Definition at line 43 of file PathFollower.h.

double PathFollower::m_max_acc_w [protected]

Definition at line 44 of file PathFollower.h.

double PathFollower::m_max_v [protected]

Definition at line 41 of file PathFollower.h.

double PathFollower::m_max_w [protected]

Definition at line 42 of file PathFollower.h.

IIS::TimedPose2D PathFollower::m_position [protected]

Definition at line 56 of file PathFollower.h.

InPort<IIS::TimedPose2D> PathFollower::m_positionIn [protected]

Definition at line 57 of file PathFollower.h.

Path PathFollower::m_target_path [protected]

Definition at line 58 of file PathFollower.h.

InPort<Path> PathFollower::m_target_pathIn [protected]

Definition at line 59 of file PathFollower.h.

IIS::TimedVelocity2D PathFollower::m_velocity [protected]

Definition at line 65 of file PathFollower.h.

OutPort<IIS::TimedVelocity2D> PathFollower::m_velocityOut [protected]

Definition at line 66 of file PathFollower.h.

double PathFollower::now_theta [private]

Definition at line 72 of file PathFollower.h.

double PathFollower::now_x [private]

Definition at line 70 of file PathFollower.h.

double PathFollower::now_y [private]

Definition at line 71 of file PathFollower.h.

double PathFollower::path_d [private]

Definition at line 83 of file PathFollower.h.

double PathFollower::path_theta [private]

Definition at line 80 of file PathFollower.h.

double PathFollower::path_v [private]

Definition at line 81 of file PathFollower.h.

double PathFollower::path_w [private]

Definition at line 82 of file PathFollower.h.

double PathFollower::path_x [private]

Definition at line 78 of file PathFollower.h.

double PathFollower::path_y [private]

Definition at line 79 of file PathFollower.h.

int PathFollower::run_mode [private]

Definition at line 76 of file PathFollower.h.

double PathFollower::target_v [private]

Definition at line 73 of file PathFollower.h.

double PathFollower::target_w [private]

Definition at line 74 of file PathFollower.h.


The documentation for this class was generated from the following files:
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RS003
Author(s):
autogenerated on Thu Jun 27 2013 14:58:49