Public Member Functions | Private Attributes
SpeedControlMatrix Class Reference

#include <speed.h>

Inheritance diagram for SpeedControlMatrix:
Inheritance graph

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< Pidvelpid_

Detailed Description

Acceleration matrix speed controller class

Definition at line 81 of file speed.h.

Constructor & Destructor Documentation

Acceleration matrix speed control constructor.

Definition at line 106 of file

SpeedControlMatrix destructor

Definition at line 120 of file

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.

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).

Implements SpeedControl.

Definition at line 135 of file

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

Configure controller parameters.

Implements SpeedControl.

Definition at line 167 of file

void SpeedControlMatrix::reset ( void  ) [virtual]

Reset speed controller.

Implements SpeedControl.

Definition at line 173 of file

Member Data Documentation

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

Definition at line 94 of file speed.h.

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