auv_geometric_tracking_controller.AUVGeometricTrackingController Class Reference

Public Member Functions
def	__init__ (self)
def	odometry_callback (self, msg)

Static Public Member Functions
def	quaternion_to_np (q)
def	unwrap_angle (t)
def	vector_to_np (v)

Public Attributes
	base_link
	d_gain_thrust
	d_pitch
	d_yaw
	desired_pitch_limit
	error_pub
	fin_topic_prefix
	fin_topic_suffix
	listener
	local_planner
	map_pitch
	map_roll
	map_yaw
	max_fin_angle
	max_thrust
	min_thrust
	n_fins
	namespace
	odometry_sub
	p_gain_thrust
	p_pitch
	p_roll
	p_yaw
	pub_cmd
	reference_pub
	rpy_to_fins
	tf_buffer
	thruster
	thruster_config
	thruster_topic
	yaw_error_limit

Detailed Description

Definition at line 35 of file auv_geometric_tracking_controller.py.

Constructor & Destructor Documentation

def auv_geometric_tracking_controller.AUVGeometricTrackingController.__init__

(

self

)

Definition at line 36 of file auv_geometric_tracking_controller.py.

Member Function Documentation

def auv_geometric_tracking_controller.AUVGeometricTrackingController.odometry_callback	(		self,
			msg
	)

Handle odometry callback: The actual control loop.

Definition at line 197 of file auv_geometric_tracking_controller.py.

def auv_geometric_tracking_controller.AUVGeometricTrackingController.quaternion_to_np (   q )

static

Definition at line 194 of file auv_geometric_tracking_controller.py.

def auv_geometric_tracking_controller.AUVGeometricTrackingController.unwrap_angle (   t )

static

Definition at line 186 of file auv_geometric_tracking_controller.py.

def auv_geometric_tracking_controller.AUVGeometricTrackingController.vector_to_np (   v )

static

Definition at line 190 of file auv_geometric_tracking_controller.py.

Member Data Documentation

auv_geometric_tracking_controller.AUVGeometricTrackingController.base_link

Definition at line 43 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.d_gain_thrust

Definition at line 63 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.d_pitch

Definition at line 75 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.d_yaw

Definition at line 83 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.desired_pitch_limit

Definition at line 87 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.error_pub

Definition at line 182 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.fin_topic_prefix

Definition at line 163 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.fin_topic_suffix

Definition at line 164 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.listener

Definition at line 135 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.local_planner

Definition at line 40 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.map_pitch

Definition at line 104 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.map_roll

Definition at line 99 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.map_yaw

Definition at line 109 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.max_fin_angle

Definition at line 159 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.max_thrust

Definition at line 51 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.min_thrust

Definition at line 46 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.n_fins

Definition at line 95 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.namespace

Definition at line 37 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.odometry_sub

Definition at line 175 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.p_gain_thrust

Definition at line 60 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.p_pitch

Definition at line 71 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.p_roll

Definition at line 67 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.p_yaw

Definition at line 79 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.pub_cmd

Definition at line 168 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.reference_pub

Definition at line 178 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.rpy_to_fins

Definition at line 166 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.tf_buffer

Definition at line 134 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.thruster

Definition at line 151 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.thruster_config

Definition at line 114 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.thruster_topic

Definition at line 56 of file auv_geometric_tracking_controller.py.

auv_geometric_tracking_controller.AUVGeometricTrackingController.yaw_error_limit

Definition at line 91 of file auv_geometric_tracking_controller.py.

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

• auv_geometric_tracking_controller.py