ConstantHeadingDepthController Class Reference

A position controller that keeps a constant heading while attempting to keep a certain distance from the feedback position. More...

#include <constant_heading_depth_controller.h>

Inheritance diagram for ConstantHeadingDepthController:

Collaboration diagram for ConstantHeadingDepthController:

Public Member Functions
	ConstantHeadingDepthController ()
	Constructor with default configuration. More...
	ConstantHeadingDepthController (ConstantHeadingDepthControllerConfig config)
	Constructor which takes a configuration. More...
virtual	~ConstantHeadingDepthController ()
	Destructor. More...
Public Member Functions inherited from Controller< PositionYaw, Position, VelocityYawRate >
virtual bool	run (PositionYawsensor_data, VelocityYawRate &control)
	Run the control loop and return control arguments. More...
ControllerStatus	isConverged (PositionYawsensor_data)
	Check if controller is converged. More...
virtual void	setGoal (Positiongoal)
	set the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread More...
virtual Position	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 (PositionYaw sensor_data, Position goal, VelocityYawRate &control)
	Run the control loop. Uses a velocity controller to keep a desired distance from a tracked point. More...
virtual ControllerStatus	isConvergedImplementation (PositionYaw sensor_data, Position goal)
	Check if controller converged. More...

Protected Attributes
ConstantHeadingDepthControllerConfig	config_
	Controller configuration. More...

Detailed Description

A position controller that keeps a constant heading while attempting to keep a certain distance from the feedback position.

Constructor & Destructor Documentation

ConstantHeadingDepthController::ConstantHeadingDepthController ( )

inline

Constructor with default configuration.

ConstantHeadingDepthController::ConstantHeadingDepthController ( ConstantHeadingDepthControllerConfig  config )

inline

Constructor which takes a configuration.

virtual ConstantHeadingDepthController::~ConstantHeadingDepthController ( )

inlinevirtual

Destructor.

Member Function Documentation

ControllerStatus ConstantHeadingDepthController::isConvergedImplementation ( PositionYaw  sensor_data, Position  goal  )

protectedvirtual

Check if controller converged.

Parameters

sensor_data	Current position yaw
goal	Goal position. Yaw inferred from position

Returns

controller status that contains an enum and debug information.

Implements Controller< PositionYaw, Position, VelocityYawRate >.

bool ConstantHeadingDepthController::runImplementation ( PositionYaw  sensor_data, Position  goal, VelocityYawRate &  control  )

protectedvirtual

Run the control loop. Uses a velocity controller to keep a desired distance from a tracked point.

Parameters

sensor_data	Current direction vector multiplied times distance
goal	Goal direction vector multiplied times distance
control	Velocity command to send to hardware

Returns

True if Controller is successful in running

Implements Controller< PositionYaw, Position, VelocityYawRate >.

Member Data Documentation

ConstantHeadingDepthControllerConfig ConstantHeadingDepthController::config_

protected

Controller configuration.

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

• include/aerial_autonomy/controllers/constant_heading_depth_controller.h
• src/controllers/constant_heading_depth_controller.cpp