labust::control::FADPControl Struct Reference

The fully actuated dynamic positioning controller. More...

List of all members.

Public Types
enum	{ x = 0, y, psi }
Public Member Functions
	FADPControl ()
void	init ()
void	initialize_controller ()
void	onHeadingRef (const std_msgs::Float32::ConstPtr &hdg)
void	onNewPoint (const geometry_msgs::PointStamped::ConstPtr &point)
void	onTrackPoint (const auv_msgs::NavSts::ConstPtr &ref)
void	step (const auv_msgs::NavSts::ConstPtr &state, auv_msgs::BodyVelocityReqPtr nu)
void	windup (const auv_msgs::BodyForceReq &tauAch)
Private Attributes
boost::mutex	cnt_mux
PIDController	con [3]
ros::Subscriber	headingRef
ros::Subscriber	refPoint
ros::Subscriber	refTrack
auv_msgs::NavSts	trackPoint
double	Ts

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Detailed Description

The fully actuated dynamic positioning controller.

Definition at line 48 of file dp_control.cpp.

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Member Enumeration Documentation

anonymous enum

Enumerator:

x
y
psi

Definition at line 50 of file dp_control.cpp.

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Constructor & Destructor Documentation

labust::control::FADPControl::FADPControl

(

)

[inline]

Definition at line 52 of file dp_control.cpp.

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Member Function Documentation

void labust::control::FADPControl::init

(

)

[inline]

Definition at line 54 of file dp_control.cpp.

void labust::control::FADPControl::initialize_controller

(

)

[inline]

Definition at line 131 of file dp_control.cpp.

void labust::control::FADPControl::onHeadingRef

(

const std_msgs::Float32::ConstPtr &

hdg

)

[inline]

Definition at line 78 of file dp_control.cpp.

void labust::control::FADPControl::onNewPoint

(

const geometry_msgs::PointStamped::ConstPtr &

point

)

[inline]

Definition at line 84 of file dp_control.cpp.

void labust::control::FADPControl::onTrackPoint

(

const auv_msgs::NavSts::ConstPtr &

ref

)

[inline]

Definition at line 67 of file dp_control.cpp.

void labust::control::FADPControl::step	(	const auv_msgs::NavSts::ConstPtr &	state,
		auv_msgs::BodyVelocityReqPtr	nu
	)		[inline]

Definition at line 102 of file dp_control.cpp.

void labust::control::FADPControl::windup

(

const auv_msgs::BodyForceReq &

tauAch

)

[inline]

Definition at line 93 of file dp_control.cpp.

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Member Data Documentation

boost::mutex labust::control::FADPControl::cnt_mux [private]

Definition at line 156 of file dp_control.cpp.

PIDController labust::control::FADPControl::con[3] [private]

Definition at line 153 of file dp_control.cpp.

ros::Subscriber labust::control::FADPControl::headingRef [private]

Definition at line 154 of file dp_control.cpp.

ros::Subscriber labust::control::FADPControl::refPoint [private]

Definition at line 154 of file dp_control.cpp.

ros::Subscriber labust::control::FADPControl::refTrack [private]

Definition at line 154 of file dp_control.cpp.

auv_msgs::NavSts labust::control::FADPControl::trackPoint [private]

Definition at line 155 of file dp_control.cpp.

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

Definition at line 157 of file dp_control.cpp.

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

• dp_control.cpp