Public Member Functions | Private Member Functions | Private Attributes
labust::control::HeadingControl Class Reference

#include <HeadingControl.hpp>

List of all members.

Public Member Functions

 HeadingControl ()
void onInit ()
void start ()
void step ()

Private Member Functions

void initialize_controller ()
bool onEnableControl (labust_uvapp::EnableControl::Request &req, labust_uvapp::EnableControl::Response &resp)
void onEstimate (const auv_msgs::NavSts::ConstPtr &estimate)
void onHeadingRef (const std_msgs::Float32::ConstPtr &ref)
void onOpenLoopSurge (const std_msgs::Float32::ConstPtr &surge)
void onWindup (const auv_msgs::BodyForceReq::ConstPtr &tauAch)

Private Attributes

boost::mutex dataMux
bool enable
ros::ServiceServer enableControl
ros::Subscriber enableFlag
double flowSurgeEstimate
ros::Subscriber flowTwist
double gammaARad
PIDController headingController
ros::Subscriber headingRef
double K1
double K2
ros::Time lastEst
ros::NodeHandle nh
ros::Publisher nuRef
ros::Subscriber openLoopSurge
ros::NodeHandle ph
double safetyRadius
auv_msgs::NavSts state
ros::Subscriber stateHat
double surge
double timeout
double Ts
ros::Publisher vtTwist
ros::Subscriber windup
labust::math::unwrap yaw_ref

Detailed Description

The class contains the implementation of the virtual target path following.

Definition at line 59 of file HeadingControl.hpp.


Constructor & Destructor Documentation

Main constructor

Definition at line 50 of file HeadingControl.cpp.


Member Function Documentation

Initialize the controller parameters etc.

Definition at line 224 of file HeadingControl.cpp.

bool HeadingControl::onEnableControl ( labust_uvapp::EnableControl::Request &  req,
labust_uvapp::EnableControl::Response &  resp 
) [private]

Handle the enable control request.

Definition at line 137 of file HeadingControl.cpp.

void HeadingControl::onEstimate ( const auv_msgs::NavSts::ConstPtr &  estimate) [private]

Handle the new tracking point. Handle incoming estimates message.

Definition at line 157 of file HeadingControl.cpp.

void HeadingControl::onHeadingRef ( const std_msgs::Float32::ConstPtr &  ref) [private]

Handle the new point.

Definition at line 132 of file HeadingControl.cpp.

Initialize and setup controller.

Definition at line 65 of file HeadingControl.cpp.

void HeadingControl::onOpenLoopSurge ( const std_msgs::Float32::ConstPtr &  surge) [private]

The open loop surge specification.

Definition at line 144 of file HeadingControl.cpp.

void HeadingControl::onWindup ( const auv_msgs::BodyForceReq::ConstPtr &  tauAch) [private]

Handle incoming flow frame twist estimates. Handle windup occurence.

Definition at line 171 of file HeadingControl.cpp.

Start the controller loop.

Definition at line 219 of file HeadingControl.cpp.

Performs one iteration.

Definition at line 201 of file HeadingControl.cpp.


Member Data Documentation

Mutex to sync updates.

Definition at line 159 of file HeadingControl.hpp.

Enabled.

Definition at line 155 of file HeadingControl.hpp.

High level controller service.

Definition at line 176 of file HeadingControl.hpp.

Definition at line 168 of file HeadingControl.hpp.

Definition at line 147 of file HeadingControl.hpp.

Definition at line 168 of file HeadingControl.hpp.

Definition at line 147 of file HeadingControl.hpp.

The horizontal distance PD controller. It has a limit on the P output value.

Definition at line 143 of file HeadingControl.hpp.

Definition at line 168 of file HeadingControl.hpp.

Definition at line 147 of file HeadingControl.hpp.

Definition at line 147 of file HeadingControl.hpp.

Last message times.

Definition at line 128 of file HeadingControl.hpp.

Dynamic reconfigure callback. The safety test. Update the dynamic reconfiguration settings. The ROS node handles.

Definition at line 124 of file HeadingControl.hpp.

The publisher of the TAU message.

Definition at line 164 of file HeadingControl.hpp.

Definition at line 168 of file HeadingControl.hpp.

Definition at line 124 of file HeadingControl.hpp.

Definition at line 147 of file HeadingControl.hpp.

auv_msgs::NavSts labust::control::HeadingControl::state [private]

Last received vehicle state.

Definition at line 151 of file HeadingControl.hpp.

The subscribed topics.

Definition at line 168 of file HeadingControl.hpp.

Definition at line 147 of file HeadingControl.hpp.

Timeout

Definition at line 132 of file HeadingControl.hpp.

The sampling time.

Definition at line 147 of file HeadingControl.hpp.

Definition at line 164 of file HeadingControl.hpp.

Definition at line 168 of file HeadingControl.hpp.

The heading unwrapper.

Definition at line 172 of file HeadingControl.hpp.


The documentation for this class was generated from the following files:


labust_uvapp
Author(s): Dula Nad
autogenerated on Sun Mar 1 2015 12:12:22