Controller< SensorDataType, GoalType, ControlType > Class Template Reference

Base Controller class. More...

#include <base_controller.h>

Public Member Functions
virtual bool	run (SensorDataType sensor_data, ControlType &control)
	Run the control loop and return control arguments. More...
ControllerStatus	isConverged (SensorDataType sensor_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 (SensorDataType sensor_data, GoalType goal, ControlType &control)=0
	Run the control loop and return control arguments. More...
virtual ControllerStatus	isConvergedImplementation (SensorDataType sensor_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 SensorDataType, class GoalType, class ControlType>
class Controller< SensorDataType, GoalType, ControlType >

Base Controller class.

subclass should implement the runImplementation function which takes as input the sensor data and the desired goal and returns a control value.

Template Parameters

SensorDataType	The type of sensor the controller takes in
GoalType	The type of goal the controller takes in
ControlType	The type of control the controller returns

Constructor & Destructor Documentation

template<class SensorDataType, class GoalType, class ControlType>

virtual Controller< SensorDataType, GoalType, ControlType >::~Controller ( )

inlinevirtual

Destructor.

Member Function Documentation

template<class SensorDataType, class GoalType, class ControlType>

virtual GoalType Controller< SensorDataType, GoalType, ControlType >::getGoal ( ) const

inlinevirtual

get the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread

template<class SensorDataType, class GoalType, class ControlType>

ControllerStatus Controller< SensorDataType, GoalType, ControlType >::isConverged ( SensorDataType  sensor_data )

inline

Check if controller is converged.

Parameters

sensor_data

Sensor data to compare against goal for convergence checking

Returns

controller status that contains an enum and debug information.

template<class SensorDataType, class GoalType, class ControlType>

virtual ControllerStatus Controller< SensorDataType, GoalType, ControlType >::isConvergedImplementation ( SensorDataType  sensor_data, GoalType  goal  )

protectedpure virtual

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.

Parameters

sensor_data	Data to be used for checking convergence
goal	This is compared against sensor data

Returns

controller status that contains an enum and debug information.

Implemented in BuiltInVelocityController, BuiltInPositionController, ConstantHeadingDepthController, RelativePoseController, VelocityBasedPositionController, and ManualRPYTController.

template<class SensorDataType, class GoalType, class ControlType>

virtual bool Controller< SensorDataType, GoalType, ControlType >::run ( SensorDataType  sensor_data, ControlType &  control  )

inlinevirtual

Run the control loop and return control arguments.

Parameters

sensor_data	Data required for control loop. Can also be estimator data
control	Control values to send to hardware

Returns

True if the control run is successful

template<class SensorDataType, class GoalType, class ControlType>

virtual bool Controller< SensorDataType, GoalType, ControlType >::runImplementation ( SensorDataType  sensor_data, GoalType  goal, ControlType &  control  )

protectedpure virtual

Run the control loop and return control arguments.

Parameters

sensor_data	Data required for control loop. Can also be estimator data
goal	The set-point for the controller
control	Output Control values to send to hardware

Returns

True if the run is successful

Implemented in ConstantHeadingDepthController, RelativePoseController, VelocityBasedPositionController, BuiltInController< GoalType >, ManualRPYTController, BuiltInController< PositionYaw >, and BuiltInController< VelocityYaw >.

template<class SensorDataType, class GoalType, class ControlType>

virtual void Controller< SensorDataType, GoalType, ControlType >::setGoal ( GoalType  goal )

inlinevirtual

set the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread

Parameters

goal	The goal for control loop

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

• include/aerial_autonomy/controllers/base_controller.h