dwb_critics::OscillationCritic::CommandTrend Class Reference

Helper class for performing the same logic on the x,y and theta dimensions. More...

#include <oscillation.h>

Public Member Functions
	CommandTrend ()
bool	hasSignFlipped ()
	Check whether we are currently tracking a flipped sign. More...
bool	isOscillating (double velocity)
	Check to see whether the proposed velocity would be considered oscillating. More...
void	reset ()
bool	update (double velocity)
	update internal flags based on the commanded velocity More...

Protected Types
enum	Sign { Sign::ZERO, Sign::POSITIVE, Sign::NEGATIVE }

Protected Attributes
bool	negative_only_
bool	positive_only_
Sign	sign_

Detailed Description

Helper class for performing the same logic on the x,y and theta dimensions.

Definition at line 94 of file oscillation.h.

Member Enumeration Documentation

Sign

enum dwb_critics::OscillationCritic::CommandTrend::Sign

strongprotected

Enumerator
ZERO
POSITIVE
NEGATIVE

Definition at line 122 of file oscillation.h.

Constructor & Destructor Documentation

CommandTrend()

dwb_critics::OscillationCritic::CommandTrend::CommandTrend

(

)

Definition at line 48 of file oscillation.cpp.

Member Function Documentation

hasSignFlipped()

bool dwb_critics::OscillationCritic::CommandTrend::hasSignFlipped

(

)

Check whether we are currently tracking a flipped sign.

Returns

True if the sign has flipped

Definition at line 89 of file oscillation.cpp.

isOscillating()

bool dwb_critics::OscillationCritic::CommandTrend::isOscillating

(

double

velocity

)

Check to see whether the proposed velocity would be considered oscillating.

Parameters

velocity

the velocity to evaluate

Returns

true if the sign has flipped more than once

Definition at line 84 of file oscillation.cpp.

reset()

void dwb_critics::OscillationCritic::CommandTrend::reset

(

)

Definition at line 53 of file oscillation.cpp.

update()

bool dwb_critics::OscillationCritic::CommandTrend::update

(

double

velocity

)

update internal flags based on the commanded velocity

Parameters

velocity

commanded velocity for the dimension this trend is tracking

Returns

true if the sign has flipped

Definition at line 60 of file oscillation.cpp.

Member Data Documentation

negative_only_

bool dwb_critics::OscillationCritic::CommandTrend::negative_only_

protected

Definition at line 125 of file oscillation.h.

positive_only_

bool dwb_critics::OscillationCritic::CommandTrend::positive_only_

protected

Definition at line 125 of file oscillation.h.

sign_

Sign dwb_critics::OscillationCritic::CommandTrend::sign_

protected

Definition at line 124 of file oscillation.h.

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

• oscillation.h
• oscillation.cpp