execution.usv.control

Class LoiterController

java.lang.Object

execution.VehicleController

execution.usv.control.UsvController

execution.usv.control.LoiterController

Direct Known Subclasses:

SlidingModeLoiterController

public class LoiterController
extends UsvController

Author:

dtdavis

Field Summary

Fields inherited from class execution.usv.control.UsvController

alongTrackRange, correctToTrack, crossTrackError, offTrackAngleDegrees, propCommand, psiCommand, psiError, rudderCommand, THRUSTCONVERSION, usvExecution

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	computeControls() Computes control settings for waypoint control

Methods inherited from class execution.usv.control.UsvController

computeRudderCommands, setControls, updateCrossTrackError

Methods inherited from class java.lang.Object

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

Constructor Detail

LoiterController

public LoiterController(UsvExecution execution)

Creates a new instance of LoiterController

Parameters:

execution - UsvExecution reference to main class of USV

Method Detail

computeControls

public void computeControls()

Computes control settings for waypoint control

Specified by:

computeControls in class UsvController