#include <segment_controller.h>

Public Member Functions
int	getCount ()
	Returns the checkpoint number the robot is in. More...

bool	getPlanActive ()

void	getSpeed (float _v, float _w)
	Returns the current speed values. More...

	SegmentController ()
	Construct a new Segment Controller object. More...

void	setGoalRadius (float _r)
	Set the Goal Radius. More...

void	setPath (std::shared_ptr< std::vector< PathPoint >> _path)
	Set the path the contorler has to follow. More...

void	setPID (float _Kp, float _Ki, float _Kd)
	sets the control parameters More...

void	setSpeedParams (float _max_v, float _max_w)
	Set the Speed Params of the controller. More...

void	setState (state s)
	Set the State (run stop step wait_step) More...

void	update (PathPoint _odom, float _delta_t)
	updates the controller with the current robot position More...

void	updatePrecondition (PathPrecondition pc)
	updates the sync step of other robots More...

Private Member Functions
float	absolute (float _val)

bool	checkGoal (PathPoint _odom)

bool	checkPrecondition (PathPoint p)

float	normalizeAngle (float _angle)

Private Attributes
state	actual_cmd_ = run

std::vector< int >	actualPreconditions

float	e_dot_ = 0

float	e_last_ = 0

float	goal_radius_ = 0.25

float	Kd_ = 1

float	Ki_ = 0.0

float	Kp_ = 5

float	max_v_

float	max_w_

std::shared_ptr< std::vector< PathPoint > >	path_

int	pathCounter_ = 0

bool	plan_active = false

float	v_

float	w_

Detailed Description

Definition at line 35 of file segment_controller.h.

Constructor & Destructor Documentation

velocity_controller::SegmentController::SegmentController ( )

Construct a new Segment Controller object.

Definition at line 9 of file segment_controller.cpp.

Member Function Documentation

float velocity_controller::SegmentController::absolute ( float _val )

private

Definition at line 153 of file segment_controller.cpp.

bool velocity_controller::SegmentController::checkGoal ( PathPoint _odom )

private

Definition at line 61 of file segment_controller.cpp.

bool velocity_controller::SegmentController::checkPrecondition ( PathPoint p )

private

Definition at line 42 of file segment_controller.cpp.

int velocity_controller::SegmentController::getCount ( )

Returns the checkpoint number the robot is in.

Returns: int returns the step of the checkpoint

Definition at line 22 of file segment_controller.cpp.

bool velocity_controller::SegmentController::getPlanActive ( )

inline

Definition at line 103 of file segment_controller.h.

void velocity_controller::SegmentController::getSpeed	(	float *	_v,
		float *	_w
	)

Returns the current speed values.

Parameters

_v	the linear speed
_w	the rotational speed

Definition at line 185 of file segment_controller.cpp.

float velocity_controller::SegmentController::normalizeAngle ( float _angle )

private

Definition at line 162 of file segment_controller.cpp.

void velocity_controller::SegmentController::setGoalRadius ( float _r )

Set the Goal Radius.

Parameters

_r	the radius which is used to marke a goal as visited

Definition at line 28 of file segment_controller.cpp.

void velocity_controller::SegmentController::setPath ( std::shared_ptr< std::vector< PathPoint >> _path )

Set the path the contorler has to follow.

Parameters

_path the path as std::vector of points

Definition at line 14 of file segment_controller.cpp.

void velocity_controller::SegmentController::setPID	(	float	_Kp,
		float	_Ki,
		float	_Kd
	)

sets the control parameters

Parameters

_Kp	the proportional part of the controller
_Ki	the integration part of the controller
_Kd	the differential part

Definition at line 90 of file segment_controller.cpp.

void velocity_controller::SegmentController::setSpeedParams	(	float	_max_v,
		float	_max_w
	)

Set the Speed Params of the controller.

Parameters

_max_v	maximal linear speed
_max_w	maximal rotational speed

Definition at line 179 of file segment_controller.cpp.

void velocity_controller::SegmentController::setState ( state s )

Set the State (run stop step wait_step)

Parameters

s	the state (run stop wait_step step)

Definition at line 97 of file segment_controller.cpp.

void velocity_controller::SegmentController::update	(	PathPoint	_odom,
		float	_delta_t
	)

updates the controller with the current robot position

Parameters

_odom	the current robot position
_delta_t	the time differenz used for the pid controlelr

Definition at line 103 of file segment_controller.cpp.

void velocity_controller::SegmentController::updatePrecondition ( PathPrecondition pc )

updates the sync step of other robots

Parameters

pc	the robot id and step to sync

Definition at line 33 of file segment_controller.cpp.

Member Data Documentation

state velocity_controller::SegmentController::actual_cmd_ = run

private

Definition at line 124 of file segment_controller.h.

std::vector<int> velocity_controller::SegmentController::actualPreconditions

private

Definition at line 122 of file segment_controller.h.

float velocity_controller::SegmentController::e_dot_ = 0

private

Definition at line 116 of file segment_controller.h.

float velocity_controller::SegmentController::e_last_ = 0

private

Definition at line 115 of file segment_controller.h.

float velocity_controller::SegmentController::goal_radius_ = 0.25

private

Definition at line 120 of file segment_controller.h.

float velocity_controller::SegmentController::Kd_ = 1

private

Definition at line 118 of file segment_controller.h.

float velocity_controller::SegmentController::Ki_ = 0.0

private

Definition at line 119 of file segment_controller.h.

float velocity_controller::SegmentController::Kp_ = 5

private

Definition at line 117 of file segment_controller.h.

float velocity_controller::SegmentController::max_v_

private

Definition at line 111 of file segment_controller.h.

float velocity_controller::SegmentController::max_w_

private

Definition at line 111 of file segment_controller.h.

std::shared_ptr<std::vector<PathPoint> > velocity_controller::SegmentController::path_

private

Definition at line 110 of file segment_controller.h.

int velocity_controller::SegmentController::pathCounter_ = 0

private

Definition at line 113 of file segment_controller.h.

bool velocity_controller::SegmentController::plan_active = false

private

Definition at line 114 of file segment_controller.h.

float velocity_controller::SegmentController::v_

private

Definition at line 112 of file segment_controller.h.

float velocity_controller::SegmentController::w_

private

Definition at line 112 of file segment_controller.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation