PIDCtrl uses a PID to compute the trajectory's velocities. More...

#include <PID.hpp>

Inheritance diagram for PIDCtrl:

Public Member Functions
	PIDCtrl (const MotionModel &model, const double &ts, const char *input_file_name, const iSeeML::rob::OrPtConfig &init_config, const double coef[6])
	The constructor needs a motion model, the time step of the controller, a file name giving the path to track, an initial configuration and the PID coefficients. More...

virtual	~PIDCtrl ()
	The destructor needs to be explicitely redefined. More...

Public Member Functions inherited from TrackingCtrl
virtual void	newState (const State &state)
	Handles new state of the robot. More...

	TrackingCtrl (const MotionModel &model, const double &ts, const char *input_file_name, const iSeeML::rob::OrPtConfig &init_config)
	The constructor needs a motion model, a time step, a file name giving the path to track and an initial configuration. More...

const std::list< State * > &	trajectory () const
	Gives the tracked trajectory. More...

virtual	~TrackingCtrl ()
	The destructor needs to be explicitely redefined. More...

Public Member Functions inherited from FileCtrl
	FileCtrl (const MotionModel &model, const double &ts, const char *input_file_name=NULL)
	The constructor needs a motion model and an optional input file name. More...

void	setInput (const char *input_file_name)
	Change the input stream to a new file. More...

virtual	~FileCtrl ()
	The destructor closes the input stream, if any. More...

Public Member Functions inherited from Controller
void	stopMotion ()
	Stops the robot (i.e. sets both velocities to zero). More...

const double &	timeStep () const
	Stops the robot (i.e. sets both velocities to zero). More...

virtual	~Controller ()
	The destructor needs to be defined as virtual. More...

Protected Member Functions
virtual void	chooseVelocities (double &trans_vel, double &rot_vel, std::ostream &log_str)
	Computes new velocities for ROS node. More...

Protected Member Functions inherited from TrackingCtrl
void	searchGoal (const double &forwardTime=0)
	Moves the goal forward until it gets after the robot's date plus a given amount of time. More...

Protected Member Functions inherited from FileCtrl
void	inputEnd ()
	Close and terminate the input stream. More...

bool	inputEnded () const
	Is the input stream at its end? More...

bool	inputOK () const
	Is the input stream OK for reading? More...

Protected Member Functions inherited from Controller
void	changeFirstOdometry ()
	Change the odometry data status (first or not). More...

	Controller (const MotionModel &model, const double &ts)
	This constructor (for the inheriting controllers) sets the motion model to the given one. More...

bool	firstOdometry ()
	Are the odometry data the first? More...

void	updateVelocities (double &trans_vel, double &rot_vel)
	Update the velocities from the fields and send the update signal. More...

Private Attributes
PIDreachCtrl	reachCtrl
	The local PID reaching controller. More...

Additional Inherited Members
Signals inherited from Controller
void	commandsUpdated (const double &trans_vel, const double &rot_vel)
	Update the display of the controller's commands. More...

void	stateUpdated (const State &state)
	Update the display of the state. More...

Protected Attributes inherited from TrackingCtrl
std::list< State * >::const_iterator	goal
	The trajectory's state which is aimed. More...

int	nb_states
	The number of states in the followed trajectory. More...

State	state
	The current state of the robot. More...

std::list< State * >	traject
	The trajectory which should be followed. More...

Protected Attributes inherited from FileCtrl
std::ifstream *	input
	The input stream, if any. More...

Protected Attributes inherited from Controller
double	initial_date
	The first date of the odometry. More...

const MotionModel &	motion_model
	The model of the motion. More...

double	moving_velocity
	Translation velocity desired for the robot. More...

const double	time_step
	The time step of the controller. More...

double	turning_velocity
	Rotation velocity desired for the robot. More...

Detailed Description

PIDCtrl uses a PID to compute the trajectory's velocities.

You need to find the right coefficients.

Since: 0.3.1

Definition at line 24 of file PID.hpp.

Constructor & Destructor Documentation

PIDCtrl::PIDCtrl	(	const MotionModel &	model,
		const double &	ts,
		const char *	input_file_name,
		const iSeeML::rob::OrPtConfig &	init_config,
		const double	coef[6]
	)

inline

The constructor needs a motion model, the time step of the controller, a file name giving the path to track, an initial configuration and the PID coefficients.

Parameters

model	the motion model,
ts	the time step of the controller,
input_file_name	the input file name of the path,
init_config	the initial configuration,
coef	the coefficient array.

See also: TrackingCtrl::TrackingCtrl

Definition at line 40 of file PID.hpp.

virtual PIDCtrl::~PIDCtrl ( )

inlinevirtual

The destructor needs to be explicitely redefined.

Definition at line 48 of file PID.hpp.

Member Function Documentation

void PIDCtrl::chooseVelocities	(	double &	trans_vel,
		double &	rot_vel,
		std::ostream &	log_str
	)

protectedvirtual

Computes new velocities for ROS node.

This method has to be defined by inheritors. It should use updateVelocities.

Parameters

trans_vel	the translation velocity, sent by the ROS node to ROS,
rot_vel	the rotation velocity, sent to ROS,
log_str	the log stream, allowing to log debug data.

Reimplemented from FileCtrl.

Definition at line 14 of file PID.cpp.

Member Data Documentation

PIDreachCtrl PIDCtrl::reachCtrl

private

The local PID reaching controller.

Definition at line 25 of file PID.hpp.

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation