cajun::steering_leadlag_v2_t Class Reference

#include <steering_leadlag.H>

Inheritance diagram for cajun::steering_leadlag_v2_t:

List of all members.

Public Member Functions
virtual void	init ()
	steering_leadlag_v2_t (const conf_t &conf)
bool	read_config (const conf_t &conf)
void	steer (steering_data_t &steering, double steering_position, guide_data_t const &gd, heading_data_t const &heading_data, double speed_, bool forward, bool tight_path)
Private Attributes
interp_table_t	g1
double	g2
double	g3
double	reverse_kp
double	forward_kp
integral	integral_sum
integral	convolution_sum
double	total
double	m_error [3]
double	m_tstamp [3]
double	error [2]
double	tstamp [2]
double	m_steer [3]
double	previous_steer [2]
double	max_turn
double	dead_band
bool	smoothen
double	filter_reduction_value

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Constructor & Destructor Documentation

steering_leadlag_v2_t::steering_leadlag_v2_t

(

const conf_t &

conf

)

References convolution_sum, init(), integral::initializeIntegral(), integral_sum, read_config(), and total.

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Member Function Documentation

virtual void cajun::steering_leadlag_v2_t::init

(

)

[inline, virtual]

Reimplemented from cajun::base_steering_t.

References error, m_error, m_steer, m_tstamp, previous_steer, and tstamp.

Referenced by steering_leadlag_v2_t().

bool steering_leadlag_v2_t::read_config

(

const conf_t &

conf

)

[virtual]

Reimplemented from cajun::base_steering_t.

References dead_band, filter_reduction_value, forward_kp, g1, g2, g3, max_turn, reverse_kp, and smoothen.

Referenced by steering_leadlag_v2_t().

void steering_leadlag_v2_t::steer	(	steering_data_t &	steering,
		double	steering_position,
		guide_data_t const &	gd,
		heading_data_t const &	heading_data,
		double	speed_,
		bool	forward,
		bool	tight_path
	)			[virtual]

Implements cajun::base_steering_t.

References convolution_sum, dead_band, error, filter_reduction_value, forward_kp, g1, g2, integral_sum, m_error, m_steer, m_tstamp, max_turn, previous_steer, integral::pushPullValues(), reverse_kp, total, and tstamp.

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Member Data Documentation

integral cajun::steering_leadlag_v2_t::convolution_sum [private]

Referenced by steer(), and steering_leadlag_v2_t().

double cajun::steering_leadlag_v2_t::dead_band [private]

Referenced by read_config(), and steer().

double cajun::steering_leadlag_v2_t::error[2] [private]

Referenced by init(), and steer().

double cajun::steering_leadlag_v2_t::filter_reduction_value [private]

Referenced by read_config(), and steer().

double cajun::steering_leadlag_v2_t::forward_kp [private]

Referenced by read_config(), and steer().

interp_table_t cajun::steering_leadlag_v2_t::g1 [private]

Referenced by read_config(), and steer().

double cajun::steering_leadlag_v2_t::g2 [private]

Referenced by read_config(), and steer().

double cajun::steering_leadlag_v2_t::g3 [private]

Referenced by read_config().

integral cajun::steering_leadlag_v2_t::integral_sum [private]

Referenced by steer(), and steering_leadlag_v2_t().

double cajun::steering_leadlag_v2_t::m_error[3] [private]

Referenced by init(), and steer().

double cajun::steering_leadlag_v2_t::m_steer[3] [private]

Referenced by init(), and steer().

double cajun::steering_leadlag_v2_t::m_tstamp[3] [private]

Referenced by init(), and steer().

double cajun::steering_leadlag_v2_t::max_turn [private]

Referenced by read_config(), and steer().

double cajun::steering_leadlag_v2_t::previous_steer[2] [private]

Referenced by init(), and steer().

double cajun::steering_leadlag_v2_t::reverse_kp [private]

Referenced by read_config(), and steer().

bool cajun::steering_leadlag_v2_t::smoothen [private]

Referenced by read_config().

double cajun::steering_leadlag_v2_t::total [private]

Referenced by steer(), and steering_leadlag_v2_t().

double cajun::steering_leadlag_v2_t::tstamp[2] [private]

Referenced by init(), and steer().

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

• steering_leadlag.H
• steering_leadlag.C