execution.ugv.control

Class WaypointController

java.lang.Object

execution.VehicleController

execution.ugv.control.UgvController

execution.ugv.control.WaypointController

Direct Known Subclasses:

LoiterController

public class WaypointController
extends UgvController

Controller for setting ugvExecution controls when navigating to a waypoint

Author:

dtdavi1

Field Summary

Fields

Modifier and Type	Field and Description
protected double	lastPsiCommand
protected boolean	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
WaypointController(UgvExecution execution) Creates a new instance of WaypointController

Method Summary

Modifier and Type	Method and Description
void	computeControls() computes ugvExecution controls based on type of controller and current state/command
protected boolean	waypointAchieved(double waypointDistance, double waypointAngle) Determines whether the UGV is close enough to the waypoint to consider it achieved

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

Field Detail

newWaypoint

protected boolean newWaypoint

lastPsiCommand

protected double lastPsiCommand

Constructor Detail

WaypointController

public WaypointController(UgvExecution execution)

Creates a new instance of WaypointController

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

Specified by:

computeControls in class UgvController

waypointAchieved

protected boolean waypointAchieved(double waypointDistance,
                                   double waypointAngle)

Determines whether the UGV is close enough to the waypoint to consider it achieved

Parameters:

waypointDistance - current distance from commanded waypoint

waypointAngle - current required heading to the waypoint

Returns:

true if the ugvExecution is within acceptable distance, or is in danger of entering a death spiral