labust::control::ALTControl Struct Reference

The altitude/depth controller. More...

Inheritance diagram for labust::control::ALTControl:

List of all members.

Public Member Functions
	ALTControl ()
void	idle (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state, const auv_msgs::BodyVelocityReq &track)
void	init ()
void	initialize_controller ()
void	onManRef (const std_msgs::Bool::ConstPtr &state)
void	reset (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state)
auv_msgs::BodyVelocityReqPtr	step (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state)
void	windup (const auv_msgs::BodyForceReq &tauAch)
Private Attributes
ros::Subscriber	alt_sub
PIDBase	con
double	depth_threshold
double	depth_timeout
bool	manRefFlag
ros::Subscriber	manRefSub
double	Ts
ros::Time	underwater_time

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Detailed Description

The altitude/depth controller.

Definition at line 57 of file ALTControl.cpp.

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Constructor & Destructor Documentation

labust::control::ALTControl::ALTControl

(

)

[inline]

Definition at line 59 of file ALTControl.cpp.

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Member Function Documentation

void labust::control::ALTControl::idle	(	const auv_msgs::NavSts &	ref,
		const auv_msgs::NavSts &	state,
		const auv_msgs::BodyVelocityReq &	track
	)		[inline]

Definition at line 78 of file ALTControl.cpp.

void labust::control::ALTControl::init

(

)

[inline]

Definition at line 61 of file ALTControl.cpp.

void labust::control::ALTControl::initialize_controller

(

)

[inline]

Definition at line 136 of file ALTControl.cpp.

void labust::control::ALTControl::onManRef

(

const std_msgs::Bool::ConstPtr &

state

)

[inline]

Definition at line 68 of file ALTControl.cpp.

void labust::control::ALTControl::reset	(	const auv_msgs::NavSts &	ref,
		const auv_msgs::NavSts &	state
	)		[inline]

Definition at line 88 of file ALTControl.cpp.

auv_msgs::BodyVelocityReqPtr labust::control::ALTControl::step	(	const auv_msgs::NavSts &	ref,
		const auv_msgs::NavSts &	state
	)		[inline]

Definition at line 93 of file ALTControl.cpp.

void labust::control::ALTControl::windup

(

const auv_msgs::BodyForceReq &

tauAch

)

[inline]

Definition at line 72 of file ALTControl.cpp.

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Member Data Documentation

ros::Subscriber labust::control::ALTControl::alt_sub [private]

Definition at line 156 of file ALTControl.cpp.

PIDBase labust::control::ALTControl::con [private]

Definition at line 157 of file ALTControl.cpp.

double labust::control::ALTControl::depth_threshold [private]

Definition at line 159 of file ALTControl.cpp.

double labust::control::ALTControl::depth_timeout [private]

Definition at line 160 of file ALTControl.cpp.

bool labust::control::ALTControl::manRefFlag [private]

Definition at line 163 of file ALTControl.cpp.

ros::Subscriber labust::control::ALTControl::manRefSub [private]

Definition at line 162 of file ALTControl.cpp.

double labust::control::ALTControl::Ts [private]

Definition at line 158 of file ALTControl.cpp.

ros::Time labust::control::ALTControl::underwater_time [private]

Definition at line 161 of file ALTControl.cpp.

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

• ALTControl.cpp