labust::control::ALTControl Struct Reference

The altitude/depth controller. More...

Inheritance diagram for labust::control::ALTControl:

List of all members.

Public Types
enum	{ x = 0, y }
Public Member Functions
	ALTControl ()
void	init ()
void	initialize_controller ()
void	reset (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state)
auv_msgs::BodyVelocityReqPtr	step (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state)
void	windup (const auv_msgs::BodyForceReq &tauAch)
Private Attributes
ros::Subscriber	alt_sub
PIDBase	con
double	lastRef
double	minAltitude
double	Ts
bool	useIP

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Detailed Description

The altitude/depth controller.

Definition at line 55 of file ALTControl.cpp.

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Member Enumeration Documentation

anonymous enum

Enumerator:

x
y

Definition at line 57 of file ALTControl.cpp.

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Constructor & Destructor Documentation

labust::control::ALTControl::ALTControl

(

)

[inline]

Definition at line 59 of file ALTControl.cpp.

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Member Function Documentation

void labust::control::ALTControl::init

(

)

[inline]

Definition at line 61 of file ALTControl.cpp.

void labust::control::ALTControl::initialize_controller

(

)

[inline]

Definition at line 160 of file ALTControl.cpp.

void labust::control::ALTControl::reset	(	const auv_msgs::NavSts &	ref,
		const auv_msgs::NavSts &	state
	)		[inline]

Definition at line 74 of file ALTControl.cpp.

auv_msgs::BodyVelocityReqPtr labust::control::ALTControl::step	(	const auv_msgs::NavSts &	ref,
		const auv_msgs::NavSts &	state
	)		[inline]

Definition at line 88 of file ALTControl.cpp.

void labust::control::ALTControl::windup

(

const auv_msgs::BodyForceReq &

tauAch

)

[inline]

Definition at line 67 of file ALTControl.cpp.

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Member Data Documentation

ros::Subscriber labust::control::ALTControl::alt_sub [private]

Definition at line 189 of file ALTControl.cpp.

PIDBase labust::control::ALTControl::con [private]

Definition at line 190 of file ALTControl.cpp.

double labust::control::ALTControl::lastRef [private]

Definition at line 193 of file ALTControl.cpp.

double labust::control::ALTControl::minAltitude [private]

Definition at line 194 of file ALTControl.cpp.

double labust::control::ALTControl::Ts [private]

Definition at line 191 of file ALTControl.cpp.

bool labust::control::ALTControl::useIP [private]

Definition at line 192 of file ALTControl.cpp.

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

• ALTControl.cpp