labust::primitive::CourseKeeping Struct Reference

Inheritance diagram for labust::primitive::CourseKeeping:

List of all members.

Public Types
enum	{ ualf = 0, falf, hdg, numcnt }
enum	{ xp = 0, yp, zp }
typedef navcon_msgs::CourseKeepingGoal	Goal
typedef navcon_msgs::CourseKeepingResult	Result
Public Member Functions
	CourseKeeping ()
void	init ()
void	onGoal ()
void	onPreempt ()
void	onStateHat (const auv_msgs::NavSts::ConstPtr &estimate)
auv_msgs::NavStsPtr	step (const auv_msgs::NavSts &state)
void	updateControllers ()
Private Attributes
tf2_ros::StaticTransformBroadcaster	broadcaster
navcon_msgs::ControllerSelectRequest	controllers
Goal::ConstPtr	goal
bool	headingEnabled
geometry_msgs::Point	lastPosition
auv_msgs::NavSts	lastState
labust::math::Line	line
bool	processNewGoal
boost::mutex	state_mux
bool	underactuated

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Detailed Description

The course keeping action

Todo:

Check what happens during the switch

Name remapping of controllers should be implemented similar to ROS remapping ?

Add the ability to update heading in fully actuated without full recalculation

Definition at line 66 of file course_keeping.cpp.

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Member Typedef Documentation

typedef navcon_msgs::CourseKeepingGoal labust::primitive::CourseKeeping::Goal

Definition at line 68 of file course_keeping.cpp.

typedef navcon_msgs::CourseKeepingResult labust::primitive::CourseKeeping::Result

Definition at line 69 of file course_keeping.cpp.

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Member Enumeration Documentation

anonymous enum

Enumerator:

ualf
falf
hdg
numcnt

Definition at line 71 of file course_keeping.cpp.

anonymous enum

Enumerator:

xp
yp
zp

Definition at line 72 of file course_keeping.cpp.

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Constructor & Destructor Documentation

labust::primitive::CourseKeeping::CourseKeeping

(

)

[inline]

Definition at line 74 of file course_keeping.cpp.

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Member Function Documentation

void labust::primitive::CourseKeeping::init

(

)

[inline]

Definition at line 80 of file course_keeping.cpp.

void labust::primitive::CourseKeeping::onGoal

(

)

[inline]

Definition at line 93 of file course_keeping.cpp.

void labust::primitive::CourseKeeping::onPreempt

(

)

[inline]

Definition at line 177 of file course_keeping.cpp.

void labust::primitive::CourseKeeping::onStateHat

(

const auv_msgs::NavSts::ConstPtr &

estimate

)

[inline]

Definition at line 214 of file course_keeping.cpp.

auv_msgs::NavStsPtr labust::primitive::CourseKeeping::step

(

const auv_msgs::NavSts &

state

)

[inline]

Definition at line 232 of file course_keeping.cpp.

void labust::primitive::CourseKeeping::updateControllers

(

)

[inline]

Definition at line 193 of file course_keeping.cpp.

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Member Data Documentation

tf2_ros::StaticTransformBroadcaster labust::primitive::CourseKeeping::broadcaster [private]

Definition at line 272 of file course_keeping.cpp.

navcon_msgs::ControllerSelectRequest labust::primitive::CourseKeeping::controllers [private]

Definition at line 279 of file course_keeping.cpp.

Goal::ConstPtr labust::primitive::CourseKeeping::goal [private]

Definition at line 276 of file course_keeping.cpp.

bool labust::primitive::CourseKeeping::headingEnabled [private]

Definition at line 274 of file course_keeping.cpp.

geometry_msgs::Point labust::primitive::CourseKeeping::lastPosition [private]

Definition at line 270 of file course_keeping.cpp.

auv_msgs::NavSts labust::primitive::CourseKeeping::lastState [private]

Definition at line 277 of file course_keeping.cpp.

labust::math::Line labust::primitive::CourseKeeping::line [private]

Definition at line 271 of file course_keeping.cpp.

bool labust::primitive::CourseKeeping::processNewGoal [private]

Definition at line 275 of file course_keeping.cpp.

boost::mutex labust::primitive::CourseKeeping::state_mux [private]

Definition at line 278 of file course_keeping.cpp.

bool labust::primitive::CourseKeeping::underactuated [private]

Definition at line 273 of file course_keeping.cpp.

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

• course_keeping.cpp