Inheritance diagram for Navigation_directto:

Collaboration diagram for Navigation_directto:

Classes
struct	args_t
struct	conf_t
	Configuration. More...
Public Types
enum	ctrl_mode_t { POS_XYZ, POS_XY_VEL_Z }
Public Member Functions
	Navigation_directto (args_t args, const conf_t &config=default_config())
virtual bool	update ()
	Main update function.
bool	set_navigation_command (const nav_command_t &command)
	sets the navigation command (desired position)
bool	set_goal (const nav_command_t &command)
	Sets the navigation goal (desired position)
float	distance_to_goal_sqr () const
	Sets the 3D position command.
Static Public Member Functions
static conf_t	default_config ()
	Default configuration.
Protected Member Functions
pid_controller_conf_t &	cruise_pid_config ()
pid_controller_conf_t &	hover_pid_config ()

Member Enumeration Documentation

Enumerator:

POS_XYZ	3D position control
POS_XY_VEL_Z	Horizontal position control + vertical velocity control.

Member Function Documentation

Navigation_directto::conf_t Navigation_directto::default_config ( void ) [inline, static]

Default configuration.

float Navigation_directto::distance_to_goal_sqr ( ) const [inline]

Sets the 3D position command.

Override of position_controller func; Sets pos controller pid to std_pid_config_ and calls parent class method

Parameters:

command xyz position command indicating target location in local frame

Returns:: success whether command was accepted sets the horizontal position & vertical velocity command

Override of position_controller func; Sets pos controller pid to std_pid_config_ and calls parent class method

Parameters:

command xy position z velocity command indicating target location & velocity in local frame

Returns:: success whether command was accepted returns the distance to the goal squared

updated in calc_position_command()

bool Navigation_directto::set_goal ( const nav_command_t & goal ) [virtual]

Sets the navigation goal (desired position)

Parameters:

goal	Navigation goal waypoint

Implements Navigation.

bool Navigation_directto::set_navigation_command ( const nav_command_t & command )

sets the navigation command (desired position)

Parameters:

command navigation command indicating navigation target location in local frame

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