BuiltInController< GoalType > Class Template Reference

A controller that simply outputs the set goal. More...

#include <builtin_controller.h>

Inheritance diagram for BuiltInController< GoalType >:

Collaboration diagram for BuiltInController< GoalType >:

Public Member Functions
virtual	~BuiltInController ()
	Destructor. More...
Public Member Functions inherited from Controller< GoalType, GoalType, GoalType >
virtual bool	run (GoalTypesensor_data, GoalType &control)
	Run the control loop and return control arguments. More...
ControllerStatus	isConverged (GoalTypesensor_data)
	Check if controller is converged. More...
virtual void	setGoal (GoalType goal)
	set the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread More...
virtual GoalType	getGoal () const
	get the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread More...
virtual	~Controller ()
	Destructor. More...

Protected Member Functions
virtual bool	runImplementation (GoalType, GoalType goal, GoalType &control)
	Run the control loop. Simply returns the goal. More...
Protected Member Functions inherited from Controller< GoalType, GoalType, GoalType >
virtual ControllerStatus	isConvergedImplementation (GoalTypesensor_data, GoalType goal)=0
	Implementation for checking convergence to be implemented by subclasses. This function is called after runImplementation function and that can be used to store any information required for checking convergence. More...

Detailed Description

template<class GoalType>
class BuiltInController< GoalType >

A controller that simply outputs the set goal.

Constructor & Destructor Documentation

template<class GoalType>

virtual BuiltInController< GoalType >::~BuiltInController ( )

inlinevirtual

Destructor.

Member Function Documentation

template<class GoalType>

virtual bool BuiltInController< GoalType >::runImplementation ( GoalType  , GoalType  goal, GoalType &  control  )

inlineprotectedvirtual

Run the control loop. Simply returns the goal.

Parameters

sensor_data	The current value of the controlled state
goal	Goal set-point
control	Goal to send to hardware

Returns

Always true

Implements Controller< GoalType, GoalType, GoalType >.

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

• include/aerial_autonomy/controllers/builtin_controller.h