BuiltInPositionController Class Reference

Builtin position controller. More...

#include <builtin_controller.h>

Inheritance diagram for BuiltInPositionController:

Collaboration diagram for BuiltInPositionController:

Public Member Functions
	BuiltInPositionController (PositionControllerConfig config)
	Constructor that store position controller configuration. More...
	BuiltInPositionController ()
	Constructor that uses default constructor. More...
Public Member Functions inherited from BuiltInController< PositionYaw >
virtual	~BuiltInController ()
	Destructor. More...
Public Member Functions inherited from Controller< PositionYaw, PositionYaw, PositionYaw >
virtual bool	run (PositionYawsensor_data, PositionYaw &control)
	Run the control loop and return control arguments. More...
ControllerStatus	isConverged (PositionYawsensor_data)
	Check if controller is converged. More...
virtual void	setGoal (PositionYawgoal)
	set the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread More...
virtual PositionYaw	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 ControllerStatus	isConvergedImplementation (PositionYaw current_position_yaw, PositionYaw goal)
	Check if current position yaw is close to Goal position yaw Uses position controller config. More...
Protected Member Functions inherited from BuiltInController< PositionYaw >
virtual bool	runImplementation (PositionYaw, PositionYawgoal, PositionYaw &control)
	Run the control loop. Simply returns the goal. More...

Detailed Description

Builtin position controller.

Constructor & Destructor Documentation

BuiltInPositionController::BuiltInPositionController ( PositionControllerConfig  config )

inline

Constructor that store position controller configuration.

Parameters

config

specifies position and yaw tolerance

BuiltInPositionController::BuiltInPositionController ( )

inline

Constructor that uses default constructor.

Member Function Documentation

virtual ControllerStatus BuiltInPositionController::isConvergedImplementation ( PositionYaw  current_position_yaw, PositionYaw  goal  )

inlineprotectedvirtual

Check if current position yaw is close to Goal position yaw Uses position controller config.

Parameters

current_position_yaw	Current position and yaw from UAV
goal	Goal position and yaw

Returns

controller status that contains an enum and debug information.

Implements Controller< PositionYaw, PositionYaw, PositionYaw >.

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

• include/aerial_autonomy/controllers/builtin_controller.h