#include <speed.h>

Inheritance diagram for SpeedControlMatrix:

Public Member Functions
virtual void	adjust (float speed, float error, float brake_req, float throttle_req)
virtual void	configure (art_pilot::PilotConfig &newconfig)
virtual void	reset (void)
	SpeedControlMatrix ()
virtual	~SpeedControlMatrix ()
Private Attributes
boost::shared_ptr< Pid >	velpid_

Detailed Description

Acceleration matrix speed controller class

Definition at line 81 of file speed.h.

Constructor & Destructor Documentation

SpeedControlMatrix::SpeedControlMatrix ( )

Acceleration matrix speed control constructor.

Definition at line 106 of file speed.cc.

SpeedControlMatrix::~SpeedControlMatrix ( ) [virtual]

Definition at line 120 of file speed.cc.

void SpeedControlMatrix::adjust	(	float	speed,
		float	error,
		float *	brake_req,
		float *	throttle_req
	)		`[virtual]`

Adjust speed to match goal.

Generate brake and throttle changes from velocity PID controller via an acceleration matrix.

Parameters:

speed	absolute value of current velocity in m/sec
error	immediate goal minus speed
brake_req	-> previous brake request (input), updated brake request (output).
throttle_req	-> previous throttle request (input), updated throttle request (output).

Definition at line 135 of file speed.cc.

void SpeedControlMatrix::configure ( art_pilot::PilotConfig & newconfig ) [virtual]

Configure controller parameters.

Definition at line 167 of file speed.cc.

void SpeedControlMatrix::reset ( void ) [virtual]

Reset speed controller.

Definition at line 173 of file speed.cc.