DroneController Class Reference

#include <DroneController.h>

List of all members.

Public Member Functions
void	clearTarget ()
	DroneController (void)
DronePosition	getCurrentTarget ()
ControlCommand	getLastControl ()
TooN::Vector< 4 >	getLastErr ()
void	setTarget (DronePosition newTarget)
ControlCommand	update (tum_ardrone::filter_stateConstPtr)
	~DroneController (void)
Public Attributes
double	agressiveness
double	Kd_gaz
double	Kd_rp
double	Kd_yaw
double	Ki_gaz
double	Ki_rp
double	Ki_yaw
double	Kp_gaz
double	Kp_rp
double	Kp_yaw
TooN::Vector< 28 >	logInfo
double	max_gaz_drop
double	max_gaz_rise
double	max_rp
double	max_yaw
ControlNode *	node
double	rise_fac
Private Member Functions
void	calcControl (TooN::Vector< 4 > new_err, TooN::Vector< 4 > d_error, double yaw)
Private Attributes
ControlCommand	hoverCommand
TooN::Vector< 4 >	i_term
TooN::Vector< 4 >	last_err
ControlCommand	lastSentControl
double	lastTimeStamp
bool	ptamIsGood
double	scaleAccuracy
TooN::Vector< 4 >	speedAverages
DronePosition	target
TooN::Vector< 4 >	targetNew
double	targetSetAtClock
bool	targetValid

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Detailed Description

Definition at line 58 of file DroneController.h.

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Constructor & Destructor Documentation

DroneController::DroneController

(

void

)

This file is part of tum_ardrone.

Copyright 2012 Jakob Engel <jajuengel@gmail.com> (Technical University of Munich) For more information see <https://vision.in.tum.de/data/software/tum_ardrone>.

tum_ardrone is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

tum_ardrone is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with tum_ardrone. If not, see <http://www.gnu.org/licenses/>.

Definition at line 28 of file DroneController.cpp.

DroneController::~DroneController

(

void

)

Definition at line 41 of file DroneController.cpp.

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Member Function Documentation

void DroneController::calcControl	(	TooN::Vector< 4 >	new_err,
		TooN::Vector< 4 >	d_error,
		double	yaw
	)		[private]

Definition at line 129 of file DroneController.cpp.

void DroneController::clearTarget

(

)

Definition at line 111 of file DroneController.cpp.

DronePosition DroneController::getCurrentTarget

(

)

Definition at line 106 of file DroneController.cpp.

ControlCommand DroneController::getLastControl

(

)

Definition at line 243 of file DroneController.cpp.

TooN::Vector< 4 > DroneController::getLastErr

(

)

Definition at line 239 of file DroneController.cpp.

void DroneController::setTarget

(

DronePosition

newTarget

)

Definition at line 88 of file DroneController.cpp.

ControlCommand DroneController::update

(

tum_ardrone::filter_stateConstPtr

state

)

Definition at line 54 of file DroneController.cpp.

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Member Data Documentation

double DroneController::agressiveness

Definition at line 122 of file DroneController.h.

ControlCommand DroneController::hoverCommand [private]

Definition at line 78 of file DroneController.h.

TooN::Vector<4> DroneController::i_term [private]

Definition at line 72 of file DroneController.h.

double DroneController::Kd_gaz

Definition at line 129 of file DroneController.h.

double DroneController::Kd_rp

Definition at line 133 of file DroneController.h.

double DroneController::Kd_yaw

Definition at line 125 of file DroneController.h.

double DroneController::Ki_gaz

Definition at line 128 of file DroneController.h.

double DroneController::Ki_rp

Definition at line 132 of file DroneController.h.

double DroneController::Ki_yaw

Definition at line 124 of file DroneController.h.

double DroneController::Kp_gaz

Definition at line 130 of file DroneController.h.

double DroneController::Kp_rp

Definition at line 134 of file DroneController.h.

double DroneController::Kp_yaw

Definition at line 126 of file DroneController.h.

TooN::Vector<4> DroneController::last_err [private]

Definition at line 73 of file DroneController.h.

ControlCommand DroneController::lastSentControl [private]

Definition at line 61 of file DroneController.h.

double DroneController::lastTimeStamp [private]

Definition at line 76 of file DroneController.h.

TooN::Vector<28> DroneController::logInfo

Definition at line 95 of file DroneController.h.

double DroneController::max_gaz_drop

Definition at line 119 of file DroneController.h.

double DroneController::max_gaz_rise

Definition at line 118 of file DroneController.h.

double DroneController::max_rp

Definition at line 117 of file DroneController.h.

double DroneController::max_yaw

Definition at line 116 of file DroneController.h.

ControlNode* DroneController::node

Definition at line 92 of file DroneController.h.

bool DroneController::ptamIsGood [private]

Definition at line 83 of file DroneController.h.

double DroneController::rise_fac

Definition at line 121 of file DroneController.h.

double DroneController::scaleAccuracy [private]

Definition at line 84 of file DroneController.h.

TooN::Vector<4> DroneController::speedAverages [private]

Definition at line 74 of file DroneController.h.

DronePosition DroneController::target [private]

Definition at line 64 of file DroneController.h.

TooN::Vector<4> DroneController::targetNew [private]

Definition at line 68 of file DroneController.h.

double DroneController::targetSetAtClock [private]

Definition at line 77 of file DroneController.h.

bool DroneController::targetValid [private]

Definition at line 65 of file DroneController.h.

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

• DroneController.h
• DroneController.cpp