labust::control::HDGControl Struct Reference

The heading controller. More...

Inheritance diagram for labust::control::HDGControl:

List of all members.

Public Types
enum	{ x = 0, y }
Public Member Functions
	HDGControl ()
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	Ts
labust::math::unwrap	unwrap
bool	useIP

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Detailed Description

The heading controller.

Definition at line 54 of file HDGControl.cpp.

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Member Enumeration Documentation

anonymous enum

Enumerator:

x
y

Definition at line 56 of file HDGControl.cpp.

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Constructor & Destructor Documentation

labust::control::HDGControl::HDGControl

(

)

[inline]

Definition at line 58 of file HDGControl.cpp.

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Member Function Documentation

void labust::control::HDGControl::init

(

)

[inline]

Definition at line 60 of file HDGControl.cpp.

void labust::control::HDGControl::initialize_controller

(

)

[inline]

Definition at line 106 of file HDGControl.cpp.

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

Definition at line 72 of file HDGControl.cpp.

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

Definition at line 78 of file HDGControl.cpp.

void labust::control::HDGControl::windup

(

const auv_msgs::BodyForceReq &

tauAch

)

[inline]

Definition at line 66 of file HDGControl.cpp.

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Member Data Documentation

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

Definition at line 125 of file HDGControl.cpp.

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

Definition at line 126 of file HDGControl.cpp.

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

Definition at line 127 of file HDGControl.cpp.

labust::math::unwrap labust::control::HDGControl::unwrap [private]

Definition at line 129 of file HDGControl.cpp.

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

Definition at line 128 of file HDGControl.cpp.

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

• HDGControl.cpp