labust::control::DepthControl Struct Reference

The Depthitude/depth controller. More...

Inheritance diagram for labust::control::DepthControl:

List of all members.

Public Member Functions
	DepthControl ()
void	idle (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state, const auv_msgs::BodyVelocityReq &track)
void	init ()
void	initialize_controller ()
void	onManRef (const std_msgs::Bool::ConstPtr &state)
void	reset (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state)
auv_msgs::BodyVelocityReqPtr	step (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state)
void	windup (const auv_msgs::BodyForceReq &tauAch)
Private Attributes
PIDBase	con
double	depth_threshold
double	depth_timeout
bool	manRefFlag
ros::Subscriber	manRefSub
double	Ts
ros::Time	underwater_time

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Detailed Description

The Depthitude/depth controller.

Definition at line 57 of file DepthControl.cpp.

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Constructor & Destructor Documentation

labust::control::DepthControl::DepthControl

(

)

[inline]

Definition at line 59 of file DepthControl.cpp.

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Member Function Documentation

void labust::control::DepthControl::idle	(	const auv_msgs::NavSts &	ref,
		const auv_msgs::NavSts &	state,
		const auv_msgs::BodyVelocityReq &	track
	)		[inline]

Definition at line 80 of file DepthControl.cpp.

void labust::control::DepthControl::init

(

)

[inline]

Definition at line 61 of file DepthControl.cpp.

void labust::control::DepthControl::initialize_controller

(

)

[inline]

Definition at line 145 of file DepthControl.cpp.

void labust::control::DepthControl::onManRef

(

const std_msgs::Bool::ConstPtr &

state

)

[inline]

Definition at line 68 of file DepthControl.cpp.

void labust::control::DepthControl::reset	(	const auv_msgs::NavSts &	ref,
		const auv_msgs::NavSts &	state
	)		[inline]

Definition at line 91 of file DepthControl.cpp.

auv_msgs::BodyVelocityReqPtr labust::control::DepthControl::step	(	const auv_msgs::NavSts &	ref,
		const auv_msgs::NavSts &	state
	)		[inline]

Definition at line 96 of file DepthControl.cpp.

void labust::control::DepthControl::windup

(

const auv_msgs::BodyForceReq &

tauAch

)

[inline]

Definition at line 74 of file DepthControl.cpp.

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Member Data Documentation

PIDBase labust::control::DepthControl::con [private]

Definition at line 166 of file DepthControl.cpp.

double labust::control::DepthControl::depth_threshold [private]

Definition at line 168 of file DepthControl.cpp.

double labust::control::DepthControl::depth_timeout [private]

Definition at line 169 of file DepthControl.cpp.

bool labust::control::DepthControl::manRefFlag [private]

Definition at line 172 of file DepthControl.cpp.

ros::Subscriber labust::control::DepthControl::manRefSub [private]

Definition at line 171 of file DepthControl.cpp.

double labust::control::DepthControl::Ts [private]

Definition at line 167 of file DepthControl.cpp.

ros::Time labust::control::DepthControl::underwater_time [private]

Definition at line 170 of file DepthControl.cpp.

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The documentation for this struct was generated from the following file:

• DepthControl.cpp