execution.usv.control

Class UsvController

java.lang.Object

execution.VehicleController

execution.usv.control.UsvController

Direct Known Subclasses:

LoiterController, OpenLoopController, WaypointController

public abstract class UsvController
extends VehicleController

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	alongTrackRange along track range remaining to reach goal point
protected boolean	correctToTrack set to true if waypoint will follow a specified track to the waypoint (false is continuous to)
protected double	crossTrackError lateral displacement from a commanded track
protected double	offTrackAngleDegrees angle computed from arc tangent of alongTrackRange and crossTrackError
protected double	propCommand commanded port propeller command
protected double	psiCommand commanded heading -- may or may not be relevant for individual inheriting control modes
protected double	psiError angular offset in degrees from a commanded track
protected double	rudderCommand commanded rudder setting
protected double	THRUSTCONVERSION
protected UsvExecution	usvExecution reference to main class of this usvExecution

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
abstract void	computeControls() computes usvExecution controls based on type of controller and current state/command
protected void	computeRudderCommands() Computes the rudder setting to maintain a commanded heading.
void	setControls() applies the computed control settings for the rudder, propellers, and lateral body thrusters
protected void	updateCrossTrackError() Computes the current crosstrack error

Methods inherited from class java.lang.Object

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

Field Detail

THRUSTCONVERSION

protected final double THRUSTCONVERSION

See Also:

Constant Field Values

usvExecution

protected UsvExecution usvExecution

reference to main class of this usvExecution

rudderCommand

protected double rudderCommand

commanded rudder setting

propCommand

protected double propCommand

commanded port propeller command

psiCommand

protected double psiCommand

commanded heading -- may or may not be relevant for individual inheriting control modes

crossTrackError

protected double crossTrackError

lateral displacement from a commanded track

alongTrackRange

protected double alongTrackRange

along track range remaining to reach goal point

offTrackAngleDegrees

protected double offTrackAngleDegrees

angle computed from arc tangent of alongTrackRange and crossTrackError

correctToTrack

protected boolean correctToTrack

set to true if waypoint will follow a specified track to the waypoint (false is continuous to)

psiError

protected double psiError

angular offset in degrees from a commanded track

Constructor Detail

UsvController

public UsvController(UsvExecution execution)

Creates a new instance of Controller

Parameters:

execution - instance of UsvExecution

Method Detail

computeControls

public abstract void computeControls()

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

updateCrossTrackError

protected void updateCrossTrackError()

Computes the current crosstrack error

computeRudderCommands

protected void computeRudderCommands()

Computes the rudder setting to maintain a commanded heading. Can be overridden by inheriting classes if different behavior is desired.

setControls

public void setControls()

applies the computed control settings for the rudder, propellers, and lateral body thrusters