Inheritance diagram for controller.AngularCascadedPController:
Public Member Functions | |
| def | __init__ (self) |
| def | computeCorrectiveAcceleration (self, odom, correctiveVelocity) |
| def | computeCorrectiveVelocity (self, odom) |
 Public Member Functions inherited from controller.CascadedPController | |
| def | disable (self, msg=None) |
| def | setTargetPosition (self, targetPosition) |
| def | setTargetVelocity (self, targetVelocity) |
| def | update (self, odom) |
Public Attributes | |
| steadyAccelThresh | |
| steadyVelThresh | |
| Public Attributes inherited from controller.CascadedPController | |
| maxAccel | |
| maxVelocity | |
| positionP | |
| steady | |
| steadyAccelThresh | |
| steadyVelThresh | |
| targetAcceleration | |
| targetPosition | |
| targetVelocity | |
| velocityP | |
Detailed Description
Definition at line 241 of file controller.py.
Constructor & Destructor Documentation
◆ __init__()
| def controller.AngularCascadedPController.__init__ | ( | self | ) |
Reimplemented from controller.CascadedPController.
Definition at line 243 of file controller.py.
Member Function Documentation
◆ computeCorrectiveAcceleration()
| def controller.AngularCascadedPController.computeCorrectiveAcceleration | ( | self, | |
| odom, | |||
| correctiveVelocity | |||
| ) |
Computes a corrective acceleration.
If self.targetVelocity is not None, will return a corrective body-frame acceleration that transitions the robot twoards the desired self.targetVelocity. Otherwise returns 0 vector.
Parameters:
correctiveVelocity (np.array): Body-frame velocity vector that adds on to the self.targetVelocity. Is used in position correction.
odom (Odometry): The latest odometry message
Returns:
np.array: 3 dimensional vector representing corrective body-frame acceleration.
Reimplemented from controller.CascadedPController.
Definition at line 261 of file controller.py.
◆ computeCorrectiveVelocity()
| def controller.AngularCascadedPController.computeCorrectiveVelocity | ( | self, | |
| odom | |||
| ) |
Computes a corrective velocity.
If self.targetPosition is not None, will return a corrective body-frame velocity that moves the robot in the direction of self.targetPosiiton. Otherwise returns 0 vector.
Parameters:
odom (Odometry): The latest odometry message
Returns:
np.array: 3 dimensional vector representing corrective body-frame velocity.
Reimplemented from controller.CascadedPController.
Definition at line 248 of file controller.py.
Member Data Documentation
◆ steadyAccelThresh
| controller.AngularCascadedPController.steadyAccelThresh |
Definition at line 246 of file controller.py.
◆ steadyVelThresh
| controller.AngularCascadedPController.steadyVelThresh |
Definition at line 245 of file controller.py.
The documentation for this class was generated from the following file: