rov_ua_pid_controller.ROVUnderActuatedPIDController Class Reference

Inheritance diagram for rov_ua_pid_controller.ROVUnderActuatedPIDController:

Public Member Functions
def	__init__ (self, args)
def	get_pid_params_callback (self, request)
def	set_pid_params_callback (self, request)
def	update_controller (self)
Public Member Functions inherited from uuv_control_interfaces.dp_controller_base.DPControllerBase
def	__del__ (self)
def	__init__ (self, is_model_based=False, list_odometry_callbacks=None, planner_full_dof=False)
def	__str__ (self)
def	error_orientation_quat (self)
def	error_orientation_rpy (self)
def	error_pos_world (self)
def	error_pose_euler (self)
def	error_vel_world (self)
def	label (self)
def	odom_is_init (self)
def	publish_auv_command (self, surge_speed, wrench)
def	publish_control_wrench (self, force)
def	reset_controller_callback (self, request)
def	update_controller (self)
def	update_errors (self)

Private Member Functions
def	_reset_controller (self)

Private Attributes
	_error_pose
	_int
	_is_init
	_Kd
	_Ki
	_Kp
	_tau

Additional Inherited Members
Static Public Member Functions inherited from uuv_control_interfaces.dp_controller_base.DPControllerBase
def	get_controller (name, args)
def	get_list_of_controllers ()
Public Attributes inherited from uuv_control_interfaces.dp_controller_base.DPControllerBase
	thrusters_only
	use_auv_control_allocator

Detailed Description

This is an abstract class for PID-based controllers. The base class method
update_controller must be overridden in other for a controller to work.

Definition at line 22 of file rov_ua_pid_controller.py.

Constructor & Destructor Documentation

def rov_ua_pid_controller.ROVUnderActuatedPIDController.__init__	(		self,
			args
	)

Definition at line 28 of file rov_ua_pid_controller.py.

Member Function Documentation

def rov_ua_pid_controller.ROVUnderActuatedPIDController._reset_controller (   self )

private

Definition at line 85 of file rov_ua_pid_controller.py.

def rov_ua_pid_controller.ROVUnderActuatedPIDController.get_pid_params_callback	(		self,
			request
	)

Definition at line 101 of file rov_ua_pid_controller.py.

def rov_ua_pid_controller.ROVUnderActuatedPIDController.set_pid_params_callback	(		self,
			request
	)

Definition at line 90 of file rov_ua_pid_controller.py.

def rov_ua_pid_controller.ROVUnderActuatedPIDController.update_controller

(

self

)

Definition at line 107 of file rov_ua_pid_controller.py.

Member Data Documentation

rov_ua_pid_controller.ROVUnderActuatedPIDController._error_pose

private

Definition at line 41 of file rov_ua_pid_controller.py.

rov_ua_pid_controller.ROVUnderActuatedPIDController._int

private

Definition at line 39 of file rov_ua_pid_controller.py.

rov_ua_pid_controller.ROVUnderActuatedPIDController._is_init

private

Definition at line 82 of file rov_ua_pid_controller.py.

rov_ua_pid_controller.ROVUnderActuatedPIDController._Kd

private

Definition at line 35 of file rov_ua_pid_controller.py.

rov_ua_pid_controller.ROVUnderActuatedPIDController._Ki

private

Definition at line 37 of file rov_ua_pid_controller.py.

rov_ua_pid_controller.ROVUnderActuatedPIDController._Kp

private

Definition at line 33 of file rov_ua_pid_controller.py.

rov_ua_pid_controller.ROVUnderActuatedPIDController._tau

private

Definition at line 127 of file rov_ua_pid_controller.py.

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

• rov_ua_pid_controller.py