flyer_controller::HoverMode Class Reference

#include <hover_modes.h>

Inheritance diagram for flyer_controller::HoverMode:

List of all members.

Public Member Functions
	HoverMode (string mode_name)
void	onInit ()
Protected Member Functions
void	get_current_error_to_point (const hover_point &point, double &north_err, double &east_err, double &yaw_err)
void	get_current_lateral_position (double &current_x, double &current_y)
void	get_current_lateral_position_errors (double &north_err, double &east_err, double &alt_err)
void	get_current_yaw_error (const double yaw_cmd, double &yaw_err)
bool	hover_point_exists (const string point_name)
bool	hover_point_within_bounds (const double north, const double east)
void	outputControl ()
void	parse_set_gains (const vector< string > &words)
void	parse_set_hover_point (const vector< string > &words)
virtual bool	parseControlModeCmdDerived (const string cmd)
void	reportStatusTimerCallback (const ros::TimerEvent &e)
void	set_gains (double KP, double KI, double KD, double Ilimit)
void	set_hover_point (const hover_point &point, bool reset=false)
Protected Attributes
double	alt_cmd
double	alt_err
double	alt_Ilimit
double	alt_KD
double	alt_KI
double	alt_KP
double	alt_override
flyer_controller::Pid	alt_pid
control_mode_output	control_out
hover_point	current_hover_point
bool	direct_thrust_control
double	east_cmd
double	east_cmd_max
double	east_cmd_min
double	east_err
flyer_controller::Pid	east_pid
double	east_vel_cmd
double	east_vel_err
bool	first
map< string, hover_point >	hover_points
double	Ilimit
ros::Publisher	info_pub
double	KD
double	KI
double	KP
ros::Time	last_time
double	mass
double	max_alt_cmd
double	min_alt_cmd
string	mode_name_
double	north_cmd
double	north_cmd_max
double	north_cmd_min
double	north_err
flyer_controller::Pid	north_pid
double	north_vel_cmd
double	north_vel_err
double	yaw_cmd
double	yaw_override
bool	yaw_override_active
Private Member Functions
void	controlModeCmdCallback (const control_mode_cmdConstPtr &msg)
void	parse_define_hover_point (const vector< string > &words)
void	parse_mode (const vector< string > &words)
bool	parseControlModeCmd (const string cmd)

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Detailed Description

Definition at line 70 of file hover_modes.h.

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Constructor & Destructor Documentation

flyer_controller::HoverMode::HoverMode

(

string

mode_name

)

[inline]

Definition at line 125 of file hover_modes.h.

---

Member Function Documentation

void flyer_controller::HoverMode::controlModeCmdCallback

(

const control_mode_cmdConstPtr &

msg

)

[inline, private, virtual]

Reimplemented from flyer_controller::ControlMode.

Definition at line 277 of file hover_modes.h.

void flyer_controller::HoverMode::get_current_error_to_point	(	const hover_point &	point,
		double &	north_err,
		double &	east_err,
		double &	yaw_err
	)		[inline, protected]

Definition at line 399 of file hover_modes.h.

void flyer_controller::HoverMode::get_current_lateral_position	(	double &	current_x,
		double &	current_y
	)		[inline, protected]

Definition at line 393 of file hover_modes.h.

void flyer_controller::HoverMode::get_current_lateral_position_errors	(	double &	north_err,
		double &	east_err,
		double &	alt_err
	)		[inline, protected]

Definition at line 384 of file hover_modes.h.

void flyer_controller::HoverMode::get_current_yaw_error	(	const double	yaw_cmd,
		double &	yaw_err
	)		[inline, protected]

Definition at line 408 of file hover_modes.h.

bool flyer_controller::HoverMode::hover_point_exists

(

const string

point_name

)

[inline, protected]

Definition at line 588 of file hover_modes.h.

bool flyer_controller::HoverMode::hover_point_within_bounds	(	const double	north,
		const double	east
	)		[inline, protected]

Definition at line 582 of file hover_modes.h.

void flyer_controller::HoverMode::onInit

(

)

[inline, virtual]

Reimplemented from flyer_controller::ControlMode.

Reimplemented in flyer_controller::ControlModeAutosequence, and flyer_controller::ControlModeHover.

Definition at line 140 of file hover_modes.h.

void flyer_controller::HoverMode::outputControl

(

)

[inline, protected, virtual]

Reimplemented from flyer_controller::ControlMode.

Reimplemented in flyer_controller::ControlModeHover.

Definition at line 291 of file hover_modes.h.

void flyer_controller::HoverMode::parse_define_hover_point

(

const vector< string > &

words

)

[inline, private]

Definition at line 513 of file hover_modes.h.

void flyer_controller::HoverMode::parse_mode

(

const vector< string > &

words

)

[inline, private]

Definition at line 463 of file hover_modes.h.

void flyer_controller::HoverMode::parse_set_gains

(

const vector< string > &

words

)

[inline, protected]

Definition at line 603 of file hover_modes.h.

void flyer_controller::HoverMode::parse_set_hover_point

(

const vector< string > &

words

)

[inline, protected]

Definition at line 626 of file hover_modes.h.

bool flyer_controller::HoverMode::parseControlModeCmd

(

const string

cmd

)

[inline, private]

Definition at line 181 of file hover_modes.h.

virtual bool flyer_controller::HoverMode::parseControlModeCmdDerived

(

const string

cmd

)

[inline, protected, virtual]

Reimplemented in flyer_controller::ControlModeAutosequence, and flyer_controller::ControlModeHover.

Definition at line 271 of file hover_modes.h.

void flyer_controller::HoverMode::reportStatusTimerCallback

(

const ros::TimerEvent &

e

)

[inline, protected, virtual]

Reimplemented from flyer_controller::ControlMode.

Reimplemented in flyer_controller::ControlModeAutosequence.

Definition at line 423 of file hover_modes.h.

void flyer_controller::HoverMode::set_gains	(	double	KP,
		double	KI,
		double	KD,
		double	Ilimit
	)		[inline, protected]

Definition at line 595 of file hover_modes.h.

void flyer_controller::HoverMode::set_hover_point	(	const hover_point &	point,
		bool	reset = false
	)		[inline, protected]

Definition at line 647 of file hover_modes.h.

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Member Data Documentation

double flyer_controller::HoverMode::alt_cmd [protected]

Definition at line 107 of file hover_modes.h.

double flyer_controller::HoverMode::alt_err [protected]

Definition at line 112 of file hover_modes.h.

double flyer_controller::HoverMode::alt_Ilimit [protected]

Definition at line 87 of file hover_modes.h.

double flyer_controller::HoverMode::alt_KD [protected]

Definition at line 86 of file hover_modes.h.

double flyer_controller::HoverMode::alt_KI [protected]

Definition at line 85 of file hover_modes.h.

double flyer_controller::HoverMode::alt_KP [protected]

Definition at line 84 of file hover_modes.h.

double flyer_controller::HoverMode::alt_override [protected]

Definition at line 117 of file hover_modes.h.

flyer_controller::Pid flyer_controller::HoverMode::alt_pid [protected]

Definition at line 104 of file hover_modes.h.

control_mode_output flyer_controller::HoverMode::control_out [protected]

Definition at line 100 of file hover_modes.h.

hover_point flyer_controller::HoverMode::current_hover_point [protected]

Definition at line 116 of file hover_modes.h.

bool flyer_controller::HoverMode::direct_thrust_control [protected]

Definition at line 83 of file hover_modes.h.

double flyer_controller::HoverMode::east_cmd [protected]

Definition at line 106 of file hover_modes.h.

double flyer_controller::HoverMode::east_cmd_max [protected]

Definition at line 91 of file hover_modes.h.

double flyer_controller::HoverMode::east_cmd_min [protected]

Definition at line 92 of file hover_modes.h.

double flyer_controller::HoverMode::east_err [protected]

Definition at line 111 of file hover_modes.h.

flyer_controller::Pid flyer_controller::HoverMode::east_pid [protected]

Definition at line 103 of file hover_modes.h.

double flyer_controller::HoverMode::east_vel_cmd [protected]

Definition at line 109 of file hover_modes.h.

double flyer_controller::HoverMode::east_vel_err [protected]

Definition at line 114 of file hover_modes.h.

bool flyer_controller::HoverMode::first [protected]

Definition at line 121 of file hover_modes.h.

map<string, hover_point> flyer_controller::HoverMode::hover_points [protected]

Definition at line 115 of file hover_modes.h.

double flyer_controller::HoverMode::Ilimit [protected]

Definition at line 82 of file hover_modes.h.

ros::Publisher flyer_controller::HoverMode::info_pub [protected]

Definition at line 95 of file hover_modes.h.

double flyer_controller::HoverMode::KD [protected]

Definition at line 81 of file hover_modes.h.

double flyer_controller::HoverMode::KI [protected]

Definition at line 80 of file hover_modes.h.

double flyer_controller::HoverMode::KP [protected]

Definition at line 79 of file hover_modes.h.

ros::Time flyer_controller::HoverMode::last_time [protected]

Definition at line 120 of file hover_modes.h.

double flyer_controller::HoverMode::mass [protected]

Definition at line 88 of file hover_modes.h.

double flyer_controller::HoverMode::max_alt_cmd [protected]

Definition at line 74 of file hover_modes.h.

double flyer_controller::HoverMode::min_alt_cmd [protected]

Definition at line 75 of file hover_modes.h.

string flyer_controller::HoverMode::mode_name_ [protected]

Definition at line 99 of file hover_modes.h.

double flyer_controller::HoverMode::north_cmd [protected]

Definition at line 105 of file hover_modes.h.

double flyer_controller::HoverMode::north_cmd_max [protected]

Definition at line 89 of file hover_modes.h.

double flyer_controller::HoverMode::north_cmd_min [protected]

Definition at line 90 of file hover_modes.h.

double flyer_controller::HoverMode::north_err [protected]

Definition at line 110 of file hover_modes.h.

flyer_controller::Pid flyer_controller::HoverMode::north_pid [protected]

Definition at line 102 of file hover_modes.h.

double flyer_controller::HoverMode::north_vel_cmd [protected]

Definition at line 108 of file hover_modes.h.

double flyer_controller::HoverMode::north_vel_err [protected]

Definition at line 113 of file hover_modes.h.

double flyer_controller::HoverMode::yaw_cmd [protected]

Definition at line 101 of file hover_modes.h.

double flyer_controller::HoverMode::yaw_override [protected]

Definition at line 118 of file hover_modes.h.

bool flyer_controller::HoverMode::yaw_override_active [protected]

Definition at line 119 of file hover_modes.h.

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

• hover_modes.h