labust::control::RefManual Struct Reference

The manual reference controller. More...

List of all members.

Public Types
enum	{   u = 0, v, w, p,   q, r, a }
Public Member Functions
double	guide_test (double baseRef, double state, double speed, double max)
void	init ()
void	initialize_manual ()
bool	onEnableControl (navcon_msgs::EnableControl::Request &req, navcon_msgs::EnableControl::Response &resp)
void	onEstimate (const auv_msgs::NavSts::ConstPtr &state)
void	onJoy (const sensor_msgs::Joy::ConstPtr &joy)
void	onNuRef (const auv_msgs::BodyVelocityReq::ConstPtr &state)
	RefManual ()
Private Attributes
auv_msgs::NavSts	baseRef
boost::mutex	cnt_mux
bool	enable
ros::ServiceServer	enableControl
Eigen::Vector6d	ffstate
double	fineThresholdAlt
double	fineThresholdPos
double	fineThresholdYaw
ros::Subscriber	joyIn
double	joyTreshold
Eigen::Vector6d	lastFF
auv_msgs::NavSts	lastState
Eigen::VectorXd	manRef
ros::Publisher	manRefAltitudePub
Eigen::Vector6i	manRefFlag
ros::Publisher	manRefHeadingPub
ros::Publisher	manRefPositionDepthPub
ros::Publisher	manRefPositionEastPub
ros::Publisher	manRefPositionNorthPub
JoystickMapping	mapper
Eigen::Vector6d	nu_max
ros::Subscriber	nuRefSub
bool	stateAcquired
ros::Subscriber	stateHat
bool	stateReady
ros::Publisher	stateRef
double	Ts
bool	useFF
bool	yawFlag
double	yawRef

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Detailed Description

The manual reference controller.

Definition at line 52 of file RefManual.cpp.

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Member Enumeration Documentation

anonymous enum

Enumerator:

u
v
w
p
q
r
a

Definition at line 54 of file RefManual.cpp.

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Constructor & Destructor Documentation

labust::control::RefManual::RefManual

(

)

[inline]

Definition at line 55 of file RefManual.cpp.

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Member Function Documentation

double labust::control::RefManual::guide_test	(	double	baseRef,
		double	state,
		double	speed,
		double	max
	)		[inline]

Definition at line 299 of file RefManual.cpp.

void labust::control::RefManual::init

(

)

[inline]

Definition at line 73 of file RefManual.cpp.

void labust::control::RefManual::initialize_manual

(

)

[inline]

Definition at line 314 of file RefManual.cpp.

bool labust::control::RefManual::onEnableControl	(	navcon_msgs::EnableControl::Request &	req,
		navcon_msgs::EnableControl::Response &	resp
	)		[inline]

Definition at line 103 of file RefManual.cpp.

void labust::control::RefManual::onEstimate

(

const auv_msgs::NavSts::ConstPtr &

state

)

[inline]

Definition at line 130 of file RefManual.cpp.

void labust::control::RefManual::onJoy

(

const sensor_msgs::Joy::ConstPtr &

joy

)

[inline]

Definition at line 152 of file RefManual.cpp.

void labust::control::RefManual::onNuRef

(

const auv_msgs::BodyVelocityReq::ConstPtr &

state

)

[inline]

Definition at line 147 of file RefManual.cpp.

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Member Data Documentation

auv_msgs::NavSts labust::control::RefManual::baseRef [private]

Definition at line 339 of file RefManual.cpp.

boost::mutex labust::control::RefManual::cnt_mux [private]

Definition at line 340 of file RefManual.cpp.

bool labust::control::RefManual::enable [private]

Definition at line 345 of file RefManual.cpp.

ros::ServiceServer labust::control::RefManual::enableControl [private]

Definition at line 349 of file RefManual.cpp.

Eigen::Vector6d labust::control::RefManual::ffstate [private]

Definition at line 348 of file RefManual.cpp.

double labust::control::RefManual::fineThresholdAlt [private]

Definition at line 354 of file RefManual.cpp.

double labust::control::RefManual::fineThresholdPos [private]

Definition at line 353 of file RefManual.cpp.

double labust::control::RefManual::fineThresholdYaw [private]

Definition at line 352 of file RefManual.cpp.

ros::Subscriber labust::control::RefManual::joyIn [private]

Definition at line 331 of file RefManual.cpp.

double labust::control::RefManual::joyTreshold [private]

Definition at line 351 of file RefManual.cpp.

Eigen::Vector6d labust::control::RefManual::lastFF [private]

Definition at line 347 of file RefManual.cpp.

auv_msgs::NavSts labust::control::RefManual::lastState [private]

Definition at line 341 of file RefManual.cpp.

Eigen::VectorXd labust::control::RefManual::manRef [private]

Definition at line 335 of file RefManual.cpp.

ros::Publisher labust::control::RefManual::manRefAltitudePub [private]

Definition at line 332 of file RefManual.cpp.

Eigen::Vector6i labust::control::RefManual::manRefFlag [private]

Definition at line 336 of file RefManual.cpp.

ros::Publisher labust::control::RefManual::manRefHeadingPub [private]

Definition at line 332 of file RefManual.cpp.

ros::Publisher labust::control::RefManual::manRefPositionDepthPub [private]

Definition at line 332 of file RefManual.cpp.

ros::Publisher labust::control::RefManual::manRefPositionEastPub [private]

Definition at line 332 of file RefManual.cpp.

ros::Publisher labust::control::RefManual::manRefPositionNorthPub [private]

Definition at line 332 of file RefManual.cpp.

JoystickMapping labust::control::RefManual::mapper [private]

Definition at line 338 of file RefManual.cpp.

Eigen::Vector6d labust::control::RefManual::nu_max [private]

Definition at line 334 of file RefManual.cpp.

ros::Subscriber labust::control::RefManual::nuRefSub [private]

Definition at line 331 of file RefManual.cpp.

bool labust::control::RefManual::stateAcquired [private]

Definition at line 343 of file RefManual.cpp.

ros::Subscriber labust::control::RefManual::stateHat [private]

Definition at line 331 of file RefManual.cpp.

bool labust::control::RefManual::stateReady [private]

Definition at line 342 of file RefManual.cpp.

ros::Publisher labust::control::RefManual::stateRef [private]

Definition at line 332 of file RefManual.cpp.

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

Definition at line 337 of file RefManual.cpp.

bool labust::control::RefManual::useFF [private]

Definition at line 344 of file RefManual.cpp.

bool labust::control::RefManual::yawFlag [private]

Definition at line 346 of file RefManual.cpp.

double labust::control::RefManual::yawRef [private]

Definition at line 350 of file RefManual.cpp.

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

• RefManual.cpp