labust::control::UVTControl Struct Reference

The underactuated virtual target controller. More...

Inheritance diagram for labust::control::UVTControl:

List of all members.

Public Types
enum	{ u = 0, r = 5 }
Public Member Functions
void	idle (const auv_msgs::FSPathInfo &ref, const auv_msgs::NavSts &state, const auv_msgs::BodyVelocityReq &track)
void	init ()
void	initializeController ()
void	reset (const auv_msgs::FSPathInfo &ref, const auv_msgs::NavSts &state)
auv_msgs::BodyVelocityReqPtr	step (const auv_msgs::FSPathInfo &ref, const auv_msgs::NavSts &state)
	UVTControl ()
Private Attributes
double	k1
	S1 parameter.
double	k2
	Y1 parameter.
double	kpsi
	Psi tracking parameter.
double	psia
	The attack angle.
double	Ts
	Sampling time.

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Detailed Description

The underactuated virtual target controller.

Definition at line 54 of file uvt_control.cpp.

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Member Enumeration Documentation

anonymous enum

Enumerator:

u
r

Definition at line 56 of file uvt_control.cpp.

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Constructor & Destructor Documentation

labust::control::UVTControl::UVTControl

(

)

[inline]

Definition at line 58 of file uvt_control.cpp.

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Member Function Documentation

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

Definition at line 70 of file uvt_control.cpp.

void labust::control::UVTControl::init

(

)

[inline]

Definition at line 65 of file uvt_control.cpp.

void labust::control::UVTControl::initializeController

(

)

[inline]

Definition at line 106 of file uvt_control.cpp.

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

Definition at line 73 of file uvt_control.cpp.

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

Definition at line 75 of file uvt_control.cpp.

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Member Data Documentation

double labust::control::UVTControl::k1 [private]

S1 parameter.

Definition at line 122 of file uvt_control.cpp.

double labust::control::UVTControl::k2 [private]

Y1 parameter.

Definition at line 124 of file uvt_control.cpp.

double labust::control::UVTControl::kpsi [private]

Psi tracking parameter.

Definition at line 126 of file uvt_control.cpp.

double labust::control::UVTControl::psia [private]

The attack angle.

Definition at line 128 of file uvt_control.cpp.

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

Sampling time.

Definition at line 120 of file uvt_control.cpp.

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

• uvt_control.cpp