PIDreachCtrl aims at reaching an oriented point with the robot, using a PID controller. More...

#include <goPID.hpp>

Inheritance diagram for PIDreachCtrl:

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

	PIDreachCtrl (const MotionModel &model, const double &ts, const State &goal_aimed, const double coef[6])
	The constructor needs a motion model, the time step of the controller, a goal state and the PID coefficients. More...

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

Public Member Functions inherited from ReachingCtrl
virtual void	changeGoal (const State &goal)
	Change the oriented point which is aimed. More...

const State &	getGoal () const
	Get the state which is aimed. More...

	ReachingCtrl (const MotionModel &model, const double &ts, const State &goal_aimed)
	The constructor needs a motion model, a time step and a goal state (in the robot's frame). 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...

Private Attributes
double	integr_angle_diff
	Integrated angle difference. More...

double	integr_dist
	Integrated distance. More...

double	rot_deriv_coef
	Rotation derivative coefficient. More...

double	rot_integ_coef
	Rotation integration coefficient. More...

double	rot_prop_coef
	Rotation proportional coefficient. More...

double	trans_deriv_coef
	Translation derivative coefficient. More...

double	trans_integ_coef
	Translation integration coefficient. More...

double	trans_prop_coef
	Translation proportional coefficient. 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 Member Functions inherited from ReachingCtrl
void	newState (const State &state)
	Handles new state of the robot. More...

virtual void	setGoal (const State &new_goal)
	Set the state which is aimed. 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...

Protected Attributes inherited from ReachingCtrl
State	state
	The state of the robot. 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

PIDreachCtrl aims at reaching an oriented point with the robot, using a PID controller.

Since: 0.3.2

Definition at line 21 of file goPID.hpp.

Constructor & Destructor Documentation

PIDreachCtrl::PIDreachCtrl	(	const MotionModel &	model,
		const double &	ts,
		const State &	goal_aimed,
		const double	coef[6]
	)

inline

The constructor needs a motion model, the time step of the controller, a goal state and the PID coefficients.

Parameters

model	the motion model,
ts	the time step of the controller,
goal_aimed	the goal state,
coef	the coefficient array.

See also: ReachingCtrl(const MotionModel&, const double&, const iSeeML::rob::OrPtConfig&)

Definition at line 45 of file goPID.hpp.

virtual PIDreachCtrl::~PIDreachCtrl ( )

inlinevirtual

The destructor needs to be explicitely redefined.

Definition at line 54 of file goPID.hpp.

Member Function Documentation

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

virtual

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.

Implements Controller.

Definition at line 14 of file goPID.cpp.

Member Data Documentation

double PIDreachCtrl::integr_angle_diff

private

Integrated angle difference.

Definition at line 30 of file goPID.hpp.

double PIDreachCtrl::integr_dist

private

Integrated distance.

Definition at line 29 of file goPID.hpp.

double PIDreachCtrl::rot_deriv_coef

private

Rotation derivative coefficient.

Definition at line 27 of file goPID.hpp.

double PIDreachCtrl::rot_integ_coef

private

Rotation integration coefficient.

Definition at line 26 of file goPID.hpp.

double PIDreachCtrl::rot_prop_coef

private

Rotation proportional coefficient.

Definition at line 25 of file goPID.hpp.

double PIDreachCtrl::trans_deriv_coef

private

Translation derivative coefficient.

Definition at line 24 of file goPID.hpp.

double PIDreachCtrl::trans_integ_coef

private

Translation integration coefficient.

Definition at line 23 of file goPID.hpp.

double PIDreachCtrl::trans_prop_coef

private

Translation proportional coefficient.

Definition at line 22 of file goPID.hpp.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation