execution.ugv.control

Class ControlCoefficients

java.lang.Object

execution.ugv.control.ControlCoefficients

public class ControlCoefficients
extends Object

Class for loading and maintaining control coefficients utilized by TrackedUgvController objects

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	kPsi PD control coefficient corresponding to heading error
protected double	kR PD control coefficient corresponding to turn rate

Constructor Summary

Constructors

Constructor and Description
ControlCoefficients(UgvExecution execution) Creates a new instance of ControlCoefficients

Method Summary

Modifier and Type	Method and Description
void	loadCoefficients(ExecutionDynamicsConfiguration config) Sets control coefficient values based on xml configuration file

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

kPsi

protected double kPsi

PD control coefficient corresponding to heading error

kR

protected double kR

PD control coefficient corresponding to turn rate

Constructor Detail

ControlCoefficients

public ControlCoefficients(UgvExecution execution)

Creates a new instance of ControlCoefficients

Parameters:

execution - UsvExecution reference to the main class of the usv to which coefficients apply

Method Detail

loadCoefficients

public void loadCoefficients(ExecutionDynamicsConfiguration config)

Sets control coefficient values based on xml configuration file

Parameters:

config - JAXB object containing all configuration info