labust::control::FADPControl Struct Reference

Inheritance diagram for labust::control::FADPControl:

List of all members.

Public Types
enum	{ x = 0, y, z }
enum	{ x = 0, y }
Public Member Functions
	FADPControl ()
	FADPControl ()
void	idle (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state, const auv_msgs::BodyVelocityReq &track)
void	idle (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state, const auv_msgs::BodyVelocityReq &track)
void	init ()
void	init ()
void	initialize_controller ()
void	initialize_controller ()
void	onManEastRef (const std_msgs::Bool::ConstPtr &state)
void	onManNorthRef (const std_msgs::Bool::ConstPtr &state)
void	reset (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state)
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)
auv_msgs::BodyVelocityReqPtr	step (const auv_msgs::NavSts &ref, const auv_msgs::NavSts &state)
void	windup (const auv_msgs::BodyForceReq &tauAch)
void	windup (const auv_msgs::BodyForceReq &tauAch)
Private Attributes
PIDBase	con [3]
bool	manRefEastFlag
ros::Subscriber	manRefEastSub
bool	manRefNorthFlag
ros::Subscriber	manRefNorthSub
double	Ts
bool	use_gvel

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Detailed Description

The fully actuated dynamic positioning controller

Todo:

add tracking support

The fully actuated dynamic positioning controller

Todo:

add tracking support

Definition at line 61 of file FADP_3DControl.cpp.

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Member Enumeration Documentation

anonymous enum

Enumerator:

x
y
z

Definition at line 63 of file FADP_3DControl.cpp.

anonymous enum

Enumerator:

x
y

Definition at line 58 of file FADPControl.cpp.

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Constructor & Destructor Documentation

labust::control::FADPControl::FADPControl

(

)

[inline]

Definition at line 65 of file FADP_3DControl.cpp.

labust::control::FADPControl::FADPControl

(

)

[inline]

Definition at line 60 of file FADPControl.cpp.

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Member Function Documentation

void labust::control::FADPControl::idle	(	const auv_msgs::NavSts &	ref,
		const auv_msgs::NavSts &	state,
		const auv_msgs::BodyVelocityReq &	track
	)		[inline]

Definition at line 82 of file FADP_3DControl.cpp.

void labust::control::FADPControl::idle	(	const auv_msgs::NavSts &	ref,
		const auv_msgs::NavSts &	state,
		const auv_msgs::BodyVelocityReq &	track
	)		[inline]

Definition at line 90 of file FADPControl.cpp.

void labust::control::FADPControl::init

(

)

[inline]

Definition at line 62 of file FADPControl.cpp.

void labust::control::FADPControl::init

(

)

[inline]

Definition at line 67 of file FADP_3DControl.cpp.

void labust::control::FADPControl::initialize_controller

(

)

[inline]

Definition at line 169 of file FADP_3DControl.cpp.

void labust::control::FADPControl::initialize_controller

(

)

[inline]

Definition at line 188 of file FADPControl.cpp.

void labust::control::FADPControl::onManEastRef

(

const std_msgs::Bool::ConstPtr &

state

)

[inline]

Definition at line 76 of file FADPControl.cpp.

void labust::control::FADPControl::onManNorthRef

(

const std_msgs::Bool::ConstPtr &

state

)

[inline]

Definition at line 71 of file FADPControl.cpp.

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

Definition at line 115 of file FADPControl.cpp.

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

Definition at line 116 of file FADP_3DControl.cpp.

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

Definition at line 120 of file FADPControl.cpp.

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

Definition at line 121 of file FADP_3DControl.cpp.

void labust::control::FADPControl::windup

(

const auv_msgs::BodyForceReq &

tauAch

)

[inline]

Definition at line 73 of file FADP_3DControl.cpp.

void labust::control::FADPControl::windup

(

const auv_msgs::BodyForceReq &

tauAch

)

[inline]

Definition at line 82 of file FADPControl.cpp.

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Member Data Documentation

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

Definition at line 194 of file FADP_3DControl.cpp.

bool labust::control::FADPControl::manRefEastFlag [private]

Definition at line 215 of file FADPControl.cpp.

ros::Subscriber labust::control::FADPControl::manRefEastSub [private]

Definition at line 214 of file FADPControl.cpp.

bool labust::control::FADPControl::manRefNorthFlag [private]

Definition at line 215 of file FADPControl.cpp.

ros::Subscriber labust::control::FADPControl::manRefNorthSub [private]

Definition at line 214 of file FADPControl.cpp.

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

Definition at line 195 of file FADP_3DControl.cpp.

bool labust::control::FADPControl::use_gvel [private]

Definition at line 213 of file FADPControl.cpp.

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

• FADP_3DControl.cpp
• FADPControl.cpp