VelocityBasedPositionController Class Reference

A position controller that sends velocity commands to the hardware. More...

#include <velocity_based_position_controller.h>

Inheritance diagram for VelocityBasedPositionController:

Collaboration diagram for VelocityBasedPositionController:

Public Member Functions
	VelocityBasedPositionController ()
	Constructor with default configuration. More...
	VelocityBasedPositionController (VelocityBasedPositionControllerConfig config)
	Constructor which takes a configuration. More...
virtual	~VelocityBasedPositionController ()
	Destructor. More...
Public Member Functions inherited from Controller< PositionYaw, PositionYaw, VelocityYaw >
virtual bool	run (PositionYawsensor_data, VelocityYaw &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 bool	runImplementation (PositionYaw sensor_data, PositionYaw goal, VelocityYaw &control)
	Run the control loop. Uses a velocity controller to achieve the desired position. More...
virtual ControllerStatus	isConvergedImplementation (PositionYaw sensor_data, PositionYaw goal)
	Check if velocity based position controller converged. More...

Protected Attributes
VelocityBasedPositionControllerConfig	config_
	Controller configuration. More...

Detailed Description

A position controller that sends velocity commands to the hardware.

Constructor & Destructor Documentation

VelocityBasedPositionController::VelocityBasedPositionController ( )

inline

Constructor with default configuration.

VelocityBasedPositionController::VelocityBasedPositionController ( VelocityBasedPositionControllerConfig  config )

inline

Constructor which takes a configuration.

virtual VelocityBasedPositionController::~VelocityBasedPositionController ( )

inlinevirtual

Destructor.

Member Function Documentation

ControllerStatus VelocityBasedPositionController::isConvergedImplementation ( PositionYaw  sensor_data, PositionYaw  goal  )

protectedvirtual

Check if velocity based position controller converged.

Parameters

sensor_data	Current position yaw
goal	Goal position yaw

Returns

controller status that contains an enum and debug information.

Implements Controller< PositionYaw, PositionYaw, VelocityYaw >.

bool VelocityBasedPositionController::runImplementation ( PositionYaw  sensor_data, PositionYaw  goal, VelocityYaw &  control  )

protectedvirtual

Run the control loop. Uses a velocity controller to achieve the desired position.

Parameters

sensor_data	Current position
goal	Goal position
control	Velocity command to send to hardware

Returns

true if velocity command to reach goal is found

Implements Controller< PositionYaw, PositionYaw, VelocityYaw >.

Member Data Documentation

VelocityBasedPositionControllerConfig VelocityBasedPositionController::config_

protected

Controller configuration.

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

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