labust::control::HDGControl Struct Reference

The heading controller. More...

Inheritance diagram for labust::control::HDGControl:

List of all members.

Public Types
enum	{ N = 5 }
Public Member Functions
	HDGControl ()
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
bool	manRefFlag
ros::Subscriber	manRefSub
double	Ts
labust::math::unwrap	unwrap
double	yawRefPast

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Detailed Description

The heading controller.

Definition at line 55 of file HDGControl.cpp.

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Member Enumeration Documentation

anonymous enum

Enumerator:

N

Definition at line 57 of file HDGControl.cpp.

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Constructor & Destructor Documentation

labust::control::HDGControl::HDGControl

(

)

[inline]

Definition at line 59 of file HDGControl.cpp.

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Member Function Documentation

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

Definition at line 81 of file HDGControl.cpp.

void labust::control::HDGControl::init

(

)

[inline]

Definition at line 61 of file HDGControl.cpp.

void labust::control::HDGControl::initialize_controller

(

)

[inline]

Definition at line 144 of file HDGControl.cpp.

void labust::control::HDGControl::onManRef

(

const std_msgs::Bool::ConstPtr &

state

)

[inline]

Definition at line 68 of file HDGControl.cpp.

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

Definition at line 94 of file HDGControl.cpp.

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

Definition at line 99 of file HDGControl.cpp.

void labust::control::HDGControl::windup

(

const auv_msgs::BodyForceReq &

tauAch

)

[inline]

Definition at line 74 of file HDGControl.cpp.

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Member Data Documentation

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

Definition at line 164 of file HDGControl.cpp.

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

Definition at line 169 of file HDGControl.cpp.

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

Definition at line 168 of file HDGControl.cpp.

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

Definition at line 165 of file HDGControl.cpp.

labust::math::unwrap labust::control::HDGControl::unwrap [private]

Definition at line 166 of file HDGControl.cpp.

double labust::control::HDGControl::yawRefPast [private]

Definition at line 167 of file HDGControl.cpp.

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

• HDGControl.cpp