Builtin velocity controller. More...

Inheritance diagram for BuiltInVelocityController:

Collaboration diagram for BuiltInVelocityController:

Public Member Functions
	BuiltInVelocityController (VelocityControllerConfig config)
	Constructor to store velocity controller configuration. More...

	BuiltInVelocityController ()
	Constructor with default configuration. More...

Public Member Functions inherited from BuiltInController< VelocityYaw >
virtual	~BuiltInController ()
	Destructor. More...

Public Member Functions inherited from Controller< VelocityYaw, VelocityYaw, VelocityYaw >
virtual bool	run (VelocityYawsensor_data, VelocityYaw &control)
	Run the control loop and return control arguments. More...

ControllerStatus	isConverged (VelocityYawsensor_data)
	Check if controller is converged. More...

virtual void	setGoal (VelocityYawgoal)
	set the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread More...

virtual VelocityYaw	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 (VelocityYaw current_velocity_yaw, VelocityYaw goal)
	Check if current velocity yaw is close to Goal velocity yaw Uses velocity controller config. More...

Protected Member Functions inherited from BuiltInController< VelocityYaw >
virtual bool	runImplementation (VelocityYaw, VelocityYawgoal, VelocityYaw &control)
	Run the control loop. Simply returns the goal. More...

Detailed Description

Builtin velocity controller.

Constructor & Destructor Documentation

BuiltInVelocityController::BuiltInVelocityController ( VelocityControllerConfig config )

inline

Constructor to store velocity controller configuration.

Parameters

config Configuration about velocity and yaw tolerance

BuiltInVelocityController::BuiltInVelocityController ( )

inline

Constructor with default configuration.

virtual ControllerStatus BuiltInVelocityController::isConvergedImplementation	(	VelocityYaw	current_velocity_yaw,
		VelocityYaw	goal
	)

inlineprotectedvirtual

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

Parameters

current_velocity_yaw	Current velocity and yaw from UAV
goal	Goal velocity and yaw

Returns: status that contains different states the controller and debug info.

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