gcop::GavoidController Class Reference

#include <gavoidcontroller.h>

Inheritance diagram for gcop::GavoidController:

Collaboration diagram for gcop::GavoidController:

List of all members.

Public Member Functions
	GavoidController (Body3dConstraint &con)
virtual	~GavoidController ()
virtual bool	Set (Vector6d &u, double t, const Body3dState &x)
Public Attributes
Body3dConstraint &	con
	obstacle constraint
double	sr
	sensing radius
double	k
	obstacle avoidance gain
double	kb
	breaking gain (optional, zero by default)
double	oc
	add extra clearance to obstacles
double	odExp
	exponent affecting the power of obstacle distance (default is 1)

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Detailed Description

Gyroscopic obstacle avoidance controller, i.e. it produces forces that "rotate" the velocity vector, so that no kinetic energy is inserted into the system Stability is guaranteed for convex obstacles

Author: Marin Kobilarov, 2007 (originally in the DGC library)

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Constructor & Destructor Documentation

GavoidController::GavoidController

(

Body3dConstraint &

con

)

Gyroscopic forcing controller

Parameters:

con	constraint giving the obstacle distance function

References k, kb, oc, odExp, and sr.

GavoidController::~GavoidController

(

)

[virtual]

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Member Function Documentation

bool GavoidController::Set	(	Vector6d &	u,
		double	t,
		const Body3dState &	x
	)		[virtual]

Feedback controller of the form u = k(t, x)

Parameters:

u	controls
t	time
x	state

Returns:

true if arguments are valid, false if e.g. x is infeasible

Implements gcop::Controller< Body3dState, Vector6d >.

References con, k, kb, oc, odExp, SIGN, and sr.

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Member Data Documentation

Body3dConstraint& gcop::GavoidController::con

obstacle constraint

Referenced by Set().

double gcop::GavoidController::k

obstacle avoidance gain

Referenced by GavoidController(), and Set().

double gcop::GavoidController::kb

breaking gain (optional, zero by default)

Referenced by GavoidController(), and Set().

double gcop::GavoidController::oc

add extra clearance to obstacles

Referenced by GavoidController(), and Set().

double gcop::GavoidController::odExp

exponent affecting the power of obstacle distance (default is 1)

Referenced by GavoidController(), and Set().

double gcop::GavoidController::sr

sensing radius

Referenced by GavoidController(), and Set().

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

• lib/algos/gavoidcontroller.h
• lib/algos/gavoidcontroller.cc