ControllerHardwareConnector< SensorDataType, GoalType, ControlType > Class Template Reference

Performs a single step of extracting data, running controller and sending data back to hardware. More...

#include <base_controller_hardware_connector.h>

Inheritance diagram for ControllerHardwareConnector< SensorDataType, GoalType, ControlType >:

Collaboration diagram for ControllerHardwareConnector< SensorDataType, GoalType, ControlType >:

Public Member Functions
	ControllerHardwareConnector (Controller< SensorDataType, GoalType, ControlType > &controller, HardwareType hardware_type)
	ControlHardwareConnector runs the controller and sends the commands to hardware. More...
virtual void	run ()
	Extracts sensor data, run controller and send data back to hardware. More...
void	setGoal (GoalType goal)
	Set the goal for controller. More...
GoalType	getGoal () const
	Get the goal for controller. More...
HardwareType	getHardwareType ()
	Return the type of hardware (HardwareType) used by the controller. More...
ControllerStatus	getStatus () const
	Provide the status of the controller. More...
Public Member Functions inherited from AbstractControllerHardwareConnector
virtual	~AbstractControllerHardwareConnector ()
	Destructor to get polymorphism. More...

Protected Member Functions
virtual bool	extractSensorData (SensorDataType &sensor_data)=0
	extract relevant data from hardware/estimators More...
virtual void	sendHardwareCommands (ControlType controls)=0
	Send hardware commands for example UAV rpy. More...

Protected Attributes
HardwareType	hardware_type_
	Type of hardware controlled by the controller. More...

Detailed Description

template<class SensorDataType, class GoalType, class ControlType>
class ControllerHardwareConnector< SensorDataType, GoalType, ControlType >

Performs a single step of extracting data, running controller and sending data back to hardware.

Template Parameters

SensorDataType	Type of data to take from hardware
GoalType	Type of goal for controller
ControlType	Type of control sent to hardware

Constructor & Destructor Documentation

template<class SensorDataType, class GoalType, class ControlType>

ControllerHardwareConnector< SensorDataType, GoalType, ControlType >::ControllerHardwareConnector ( Controller< SensorDataType, GoalType, ControlType > &  controller, HardwareType  hardware_type  )

inline

ControlHardwareConnector runs the controller and sends the commands to hardware.

The subclass controlhardwareconnectors should take the required hardware in the constructor and implement the run function to get the command from controller and send to hardware

Parameters

controller	Controller to run during run function
hardware_type	Type of Hardware. Used to group the connectors and ensure only one connector is running per hardware type.

Member Function Documentation

template<class SensorDataType, class GoalType, class ControlType>

virtual bool ControllerHardwareConnector< SensorDataType, GoalType, ControlType >::extractSensorData ( SensorDataType &  sensor_data )

protectedpure virtual

extract relevant data from hardware/estimators

Parameters

sensor_data

Data to be updated based on sensor measurements

Returns

true if extraction succeeded otherwise false

Implemented in VisualServoingControllerArmConnector, VisualServoingControllerDroneConnector, PositionControllerDroneConnector, BuiltInVelocityControllerDroneConnector, and ManualRPYTControllerDroneConnector.

template<class SensorDataType, class GoalType, class ControlType>

GoalType ControllerHardwareConnector< SensorDataType, GoalType, ControlType >::getGoal ( ) const

inline

Get the goal for controller.

Returns

Goal for controller

template<class SensorDataType, class GoalType, class ControlType>

HardwareType ControllerHardwareConnector< SensorDataType, GoalType, ControlType >::getHardwareType ( )

inline

Return the type of hardware (HardwareType) used by the controller.

Returns

return the type of hardware used by the controller

template<class SensorDataType, class GoalType, class ControlType>

ControllerStatus ControllerHardwareConnector< SensorDataType, GoalType, ControlType >::getStatus ( ) const

inlinevirtual

Provide the status of the controller.

Returns

The status of the controller

Implements AbstractControllerHardwareConnector.

template<class SensorDataType, class GoalType, class ControlType>

virtual void ControllerHardwareConnector< SensorDataType, GoalType, ControlType >::run ( )

inlinevirtual

Extracts sensor data, run controller and send data back to hardware.

Implements AbstractControllerHardwareConnector.

template<class SensorDataType, class GoalType, class ControlType>

virtual void ControllerHardwareConnector< SensorDataType, GoalType, ControlType >::sendHardwareCommands ( ControlType  controls )

protectedpure virtual

Send hardware commands for example UAV rpy.

Parameters

controls

Data structure the UAV is expecting

Implemented in VisualServoingControllerArmConnector, VisualServoingControllerDroneConnector, PositionControllerDroneConnector, BuiltInVelocityControllerDroneConnector, and ManualRPYTControllerDroneConnector.

template<class SensorDataType, class GoalType, class ControlType>

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

inline

Set the goal for controller.

Parameters

goal	Goal for controller

Member Data Documentation

template<class SensorDataType, class GoalType, class ControlType>

HardwareType ControllerHardwareConnector< SensorDataType, GoalType, ControlType >::hardware_type_

protected

Type of hardware controlled by the controller.

Used to group controllers. Only one controller will be running per hardware.

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

• include/aerial_autonomy/controller_hardware_connectors/base_controller_hardware_connector.h