PathFollower Class Reference

#include <PathFollower.h>

List of all members.

Public Member Functions
virtual RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onInitialize ()
	PathFollower (RTC::Manager *manager)
	~PathFollower ()
Protected Attributes
double	m_control_cycle
double	m_line_C1
double	m_line_Dist
double	m_line_K1
double	m_line_K2
double	m_line_K3
double	m_max_acc_v
double	m_max_acc_w
double	m_max_v
double	m_max_w
IIS::TimedPose2D	m_position
InPort< IIS::TimedPose2D >	m_positionIn
Path	m_target_path
InPort< Path >	m_target_pathIn
IIS::TimedVelocity2D	m_velocity
OutPort< IIS::TimedVelocity2D >	m_velocityOut
Private Member Functions
double	circle_follow (double x, double y, double theta, double cx, double cy, double cradius, double v_max)
double	dist_pos (double x, double y, double tx, double ty)
void	finalizePathFollower (void)
void	initPathFollower (void)
double	line_follow (double x, double y, double theta, double cx, double cy, double ctheta, double v_max)
void	path_following (double x, double y, double theta)
double	regurator (double d, double q, double r, double v_max)
int	robot_speed_smooth (double v, double w)
double	spin (double theta, double target_theta, double w_max)
int	to_point (double x, double y, double theta, double tx, double ty, double ttheta, double max_vel)
Private Attributes
int	do_control
int	dummy
double	now_theta
double	now_x
double	now_y
double	path_d
double	path_theta
double	path_v
double	path_w
double	path_x
double	path_y
int	run_mode
double	target_v
double	target_w

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Detailed Description

Definition at line 25 of file PathFollower.h.

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Constructor & Destructor Documentation

PathFollower::PathFollower

(

RTC::Manager *

manager

)

Definition at line 42 of file PathFollower.cpp.

PathFollower::~PathFollower

(

)

Definition at line 61 of file PathFollower.cpp.

---

Member Function Documentation

double PathFollower::circle_follow	(	double	x,
		double	y,
		double	theta,
		double	cx,
		double	cy,
		double	cradius,
		double	v_max
	)		[private]

Definition at line 31 of file control.cpp.

double PathFollower::dist_pos	(	double	x,
		double	y,
		double	tx,
		double	ty
	)		[private]

Definition at line 125 of file control.cpp.

void PathFollower::finalizePathFollower

(

void

)

[private]

Definition at line 282 of file control.cpp.

void PathFollower::initPathFollower

(

void

)

[private]

Definition at line 265 of file control.cpp.

double PathFollower::line_follow	(	double	x,
		double	y,
		double	theta,
		double	cx,
		double	cy,
		double	ctheta,
		double	v_max
	)		[private]

Definition at line 49 of file control.cpp.

RTC::ReturnCode_t PathFollower::onActivated

(

RTC::UniqueId

ec_id

)

[virtual]

Definition at line 87 of file PathFollower.cpp.

RTC::ReturnCode_t PathFollower::onExecute

(

RTC::UniqueId

ec_id

)

[virtual]

Definition at line 93 of file PathFollower.cpp.

RTC::ReturnCode_t PathFollower::onInitialize

(

)

[virtual]

Definition at line 66 of file PathFollower.cpp.

void PathFollower::path_following	(	double	x,
		double	y,
		double	theta
	)		[private]

Definition at line 215 of file control.cpp.

double PathFollower::regurator	(	double	d,
		double	q,
		double	r,
		double	v_max
	)		[private]

Definition at line 72 of file control.cpp.

int PathFollower::robot_speed_smooth	(	double	v,
		double	w
	)		[private]

Definition at line 161 of file control.cpp.

double PathFollower::spin	(	double	theta,
		double	target_theta,
		double	w_max
	)		[private]

Definition at line 103 of file control.cpp.

int PathFollower::to_point	(	double	x,
		double	y,
		double	theta,
		double	tx,
		double	ty,
		double	ttheta,
		double	max_vel
	)		[private]

Definition at line 133 of file control.cpp.

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Member Data Documentation

int PathFollower::do_control [private]

Definition at line 85 of file PathFollower.h.

int PathFollower::dummy [private]

Definition at line 69 of file PathFollower.h.

double PathFollower::m_control_cycle [protected]

Definition at line 50 of file PathFollower.h.

double PathFollower::m_line_C1 [protected]

Definition at line 45 of file PathFollower.h.

double PathFollower::m_line_Dist [protected]

Definition at line 49 of file PathFollower.h.

double PathFollower::m_line_K1 [protected]

Definition at line 46 of file PathFollower.h.

double PathFollower::m_line_K2 [protected]

Definition at line 47 of file PathFollower.h.

double PathFollower::m_line_K3 [protected]

Definition at line 48 of file PathFollower.h.

double PathFollower::m_max_acc_v [protected]

Definition at line 43 of file PathFollower.h.

double PathFollower::m_max_acc_w [protected]

Definition at line 44 of file PathFollower.h.

double PathFollower::m_max_v [protected]

Definition at line 41 of file PathFollower.h.

double PathFollower::m_max_w [protected]

Definition at line 42 of file PathFollower.h.

IIS::TimedPose2D PathFollower::m_position [protected]

Definition at line 56 of file PathFollower.h.

InPort<IIS::TimedPose2D> PathFollower::m_positionIn [protected]

Definition at line 57 of file PathFollower.h.

Path PathFollower::m_target_path [protected]

Definition at line 58 of file PathFollower.h.

InPort<Path> PathFollower::m_target_pathIn [protected]

Definition at line 59 of file PathFollower.h.

IIS::TimedVelocity2D PathFollower::m_velocity [protected]

Definition at line 65 of file PathFollower.h.

OutPort<IIS::TimedVelocity2D> PathFollower::m_velocityOut [protected]

Definition at line 66 of file PathFollower.h.

double PathFollower::now_theta [private]

Definition at line 72 of file PathFollower.h.

double PathFollower::now_x [private]

Definition at line 70 of file PathFollower.h.

double PathFollower::now_y [private]

Definition at line 71 of file PathFollower.h.

double PathFollower::path_d [private]

Definition at line 83 of file PathFollower.h.

double PathFollower::path_theta [private]

Definition at line 80 of file PathFollower.h.

double PathFollower::path_v [private]

Definition at line 81 of file PathFollower.h.

double PathFollower::path_w [private]

Definition at line 82 of file PathFollower.h.

double PathFollower::path_x [private]

Definition at line 78 of file PathFollower.h.

double PathFollower::path_y [private]

Definition at line 79 of file PathFollower.h.

int PathFollower::run_mode [private]

Definition at line 76 of file PathFollower.h.

double PathFollower::target_v [private]

Definition at line 73 of file PathFollower.h.

double PathFollower::target_w [private]

Definition at line 74 of file PathFollower.h.

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

• PathFollower.h
• control.cpp
• PathFollower.cpp