labust::control::UALFControl Struct Reference

The simple line following controller. More...

Inheritance diagram for labust::control::UALFControl:

List of all members.

Public Member Functions
void	idle (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state, const auv_msgs::BodyVelocityReq &track)
void	init ()
void	initialize_controller ()
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)
	UALFControl ()
void	windup (const auv_msgs::BodyForceReq &tauAch)
Private Attributes
double	aAngle
tf2_ros::Buffer	buffer
PIDBase	con
ros::Publisher	dh_pub
tf2_ros::TransformListener	listener
double	Ts
bool	underactuated
bool	use_gvel
double	wh

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Detailed Description

The simple line following controller.

Definition at line 58 of file UALFControl.cpp.

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Constructor & Destructor Documentation

labust::control::UALFControl::UALFControl

(

)

[inline]

Definition at line 60 of file UALFControl.cpp.

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Member Function Documentation

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

Definition at line 82 of file UALFControl.cpp.

void labust::control::UALFControl::init

(

)

[inline]

Definition at line 68 of file UALFControl.cpp.

void labust::control::UALFControl::initialize_controller

(

)

[inline]

Definition at line 191 of file UALFControl.cpp.

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

Definition at line 73 of file UALFControl.cpp.

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

Definition at line 112 of file UALFControl.cpp.

void labust::control::UALFControl::windup

(

const auv_msgs::BodyForceReq &

tauAch

)

[inline]

Definition at line 75 of file UALFControl.cpp.

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Member Data Documentation

double labust::control::UALFControl::aAngle [private]

Definition at line 225 of file UALFControl.cpp.

tf2_ros::Buffer labust::control::UALFControl::buffer [private]

Definition at line 228 of file UALFControl.cpp.

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

Definition at line 223 of file UALFControl.cpp.

ros::Publisher labust::control::UALFControl::dh_pub [private]

Definition at line 230 of file UALFControl.cpp.

tf2_ros::TransformListener labust::control::UALFControl::listener [private]

Definition at line 229 of file UALFControl.cpp.

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

Definition at line 224 of file UALFControl.cpp.

bool labust::control::UALFControl::underactuated [private]

Definition at line 226 of file UALFControl.cpp.

bool labust::control::UALFControl::use_gvel [private]

Definition at line 227 of file UALFControl.cpp.

double labust::control::UALFControl::wh [private]

Definition at line 225 of file UALFControl.cpp.

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

• UALFControl.cpp