execution.ugv.control

Class LoiterController

java.lang.Object

execution.VehicleController

execution.ugv.control.UgvController

execution.ugv.control.WaypointController

execution.ugv.control.LoiterController

public class LoiterController
extends WaypointController

Controller for setting ugvExecution controls when navigating to a waypoint

Author:

dtdavi1

Field Summary

Fields inherited from class execution.ugv.control.WaypointController

lastPsiCommand, newWaypoint

Fields inherited from class execution.ugv.control.UgvController

alongTrackRange, closedLoopSpeed, commandedSpeed, controlledPsi, correctToTrack, crossTrackError, leftTrackCommand, maxTrackDif, offTrackAngleDegrees, psiCommand, rightTrackCommand, ugvExecution

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	computeControls() computes ugvExecution controls based on type of controller and current state/command

Methods inherited from class execution.ugv.control.WaypointController

waypointAchieved

Methods inherited from class execution.ugv.control.UgvController

computeControls, setControls, setOpenLoopPsi, setPsiCommand, setSpeed, setTrackSpeed, setTrackSpeed, updateCrossTrackError

Methods inherited from class java.lang.Object

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

Constructor Detail

LoiterController

public LoiterController(UgvExecution execution)

Creates a new instance of LoiterController

Parameters:

execution - TrackedUgvExecution reference to main class of UGV

Method Detail

computeControls

public void computeControls()

Description copied from class: UgvController

computes ugvExecution controls based on type of controller and current state/command

Overrides:

computeControls in class WaypointController