Public Types | Public Member Functions | Private Attributes
labust::control::FADPControl Struct Reference

The fully actuated dynamic positioning controller. More...

List of all members.

Public Types

enum  { x = 0, y, psi }

Public Member Functions

 FADPControl ()
void init ()
void initialize_controller ()
void onHeadingRef (const std_msgs::Float32::ConstPtr &hdg)
void onNewPoint (const geometry_msgs::PointStamped::ConstPtr &point)
void onTrackPoint (const auv_msgs::NavSts::ConstPtr &ref)
void step (const auv_msgs::NavSts::ConstPtr &state, auv_msgs::BodyVelocityReqPtr nu)
void windup (const auv_msgs::BodyForceReq &tauAch)

Private Attributes

boost::mutex cnt_mux
PIDController con [3]
ros::Subscriber headingRef
ros::Subscriber refPoint
ros::Subscriber refTrack
auv_msgs::NavSts trackPoint
double Ts

Detailed Description

The fully actuated dynamic positioning controller.

Definition at line 48 of file dp_control.cpp.


Member Enumeration Documentation

anonymous enum
Enumerator:
x 
y 
psi 

Definition at line 50 of file dp_control.cpp.


Constructor & Destructor Documentation

Definition at line 52 of file dp_control.cpp.


Member Function Documentation

Definition at line 54 of file dp_control.cpp.

Definition at line 131 of file dp_control.cpp.

void labust::control::FADPControl::onHeadingRef ( const std_msgs::Float32::ConstPtr &  hdg) [inline]

Definition at line 78 of file dp_control.cpp.

void labust::control::FADPControl::onNewPoint ( const geometry_msgs::PointStamped::ConstPtr &  point) [inline]

Definition at line 84 of file dp_control.cpp.

void labust::control::FADPControl::onTrackPoint ( const auv_msgs::NavSts::ConstPtr &  ref) [inline]

Definition at line 67 of file dp_control.cpp.

void labust::control::FADPControl::step ( const auv_msgs::NavSts::ConstPtr &  state,
auv_msgs::BodyVelocityReqPtr  nu 
) [inline]

Definition at line 102 of file dp_control.cpp.

void labust::control::FADPControl::windup ( const auv_msgs::BodyForceReq &  tauAch) [inline]

Definition at line 93 of file dp_control.cpp.


Member Data Documentation

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

Definition at line 156 of file dp_control.cpp.

PIDController labust::control::FADPControl::con[3] [private]

Definition at line 153 of file dp_control.cpp.

Definition at line 154 of file dp_control.cpp.

Definition at line 154 of file dp_control.cpp.

Definition at line 154 of file dp_control.cpp.

auv_msgs::NavSts labust::control::FADPControl::trackPoint [private]

Definition at line 155 of file dp_control.cpp.

Definition at line 157 of file dp_control.cpp.


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


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