SpeedControlMatrix Class Reference

#include <speed.h>

Inheritance diagram for SpeedControlMatrix:

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_

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Detailed Description

Acceleration matrix speed controller class

Definition at line 81 of file speed.h.

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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.

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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.

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Member Data Documentation

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

Definition at line 94 of file speed.h.

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

• speed.h
• speed.cc