cajun::steering_pid_v1_t Class Reference

#include <steering_pid.H>

Inheritance diagram for cajun::steering_pid_v1_t:

List of all members.

Public Member Functions
virtual void	init ()
	steering_pid_v1_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	m_kp
double	m_ki
interp_table_t	m_kd
double	m_heading_error
double	m_heading [2]
double	m_tstamp [2]

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Constructor & Destructor Documentation

steering_pid_v1_t::steering_pid_v1_t

(

const conf_t &

conf

)

References init(), and read_config().

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Member Function Documentation

virtual void cajun::steering_pid_v1_t::init

(

)

[inline, virtual]

Reimplemented from cajun::base_steering_t.

References m_heading, m_heading_error, and m_tstamp.

Referenced by steering_pid_v1_t().

bool steering_pid_v1_t::read_config

(

const conf_t &

conf

)

[virtual]

Reimplemented from cajun::base_steering_t.

References m_kd, m_ki, m_kp, and cajun::base_steering_t::read_config().

Referenced by steering_pid_v1_t().

void steering_pid_v1_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 m_heading, m_heading_error, m_kd, m_ki, m_kp, and m_tstamp.

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Member Data Documentation

double cajun::steering_pid_v1_t::m_heading[2] [private]

Referenced by init(), and steer().

double cajun::steering_pid_v1_t::m_heading_error [private]

Referenced by init(), and steer().

interp_table_t cajun::steering_pid_v1_t::m_kd [private]

Referenced by read_config(), and steer().

double cajun::steering_pid_v1_t::m_ki [private]

Referenced by read_config(), and steer().

interp_table_t cajun::steering_pid_v1_t::m_kp [private]

Referenced by read_config(), and steer().

double cajun::steering_pid_v1_t::m_tstamp[2] [private]

Referenced by init(), and steer().

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

• steering_pid.H
• steering_pid.C