Public Member Functions | Protected Attributes
SpeedControl Class Reference

#include <speed.h>

Inheritance diagram for SpeedControl:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void adjust (float speed, float error, float *brake_req, float *throttle_req)=0
virtual void configure (art_pilot::PilotConfig &newconfig)=0
virtual void reset (void)=0
virtual void set_brake_position (float position)
virtual void set_throttle_position (float position)
 SpeedControl ()

Protected Attributes

float brake_position_
ros::NodeHandle node_
float throttle_position_

Detailed Description

Virtual base speed controller class

Definition at line 36 of file speed.h.


Constructor & Destructor Documentation

Definition at line 40 of file speed.h.


Member Function Documentation

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

Adjust speed to match goal.

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

Implemented in SpeedControlPID, SpeedControlMatrix, and LearnedSpeedControl.

virtual void SpeedControl::configure ( art_pilot::PilotConfig &  newconfig) [pure virtual]

Configure controller parameters.

Implemented in SpeedControlPID, SpeedControlMatrix, and LearnedSpeedControl.

virtual void SpeedControl::reset ( void  ) [pure virtual]

Reset speed controller.

Implemented in SpeedControlPID, SpeedControlMatrix, and LearnedSpeedControl.

virtual void SpeedControl::set_brake_position ( float  position) [inline, virtual]

Definition at line 64 of file speed.h.

virtual void SpeedControl::set_throttle_position ( float  position) [inline, virtual]

Definition at line 68 of file speed.h.


Member Data Documentation

float SpeedControl::brake_position_ [protected]

Definition at line 76 of file speed.h.

Definition at line 75 of file speed.h.

Definition at line 77 of file speed.h.


The documentation for this class was generated from the following file:
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art_pilot
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:44:02