DUNE: Uniform Navigational Environment
2016.09.0
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All data regarding the vehicle's state while tracking the path.
Classes | |
struct | Coord |
struct | LoiterData |
struct | TrackCoord |
Public Attributes | |
double | now |
double | delta |
double | start_time |
double | end_time |
double | eta |
struct DUNE::Control::PathController::TrackingState::Coord | start |
struct DUNE::Control::PathController::TrackingState::Coord | end |
double | track_bearing |
double | track_length |
double | range |
double | los_angle |
double | course |
double | speed |
double | course_error |
struct DUNE::Control::PathController::TrackingState::TrackCoord | track_pos |
struct DUNE::Control::PathController::TrackingState::TrackCoord | track_vel |
struct DUNE::Control::PathController::TrackingState::LoiterData | loiter |
bool | z_control: 1 |
bool | loitering: 1 |
bool | nearby: 1 |
bool | cc: 1 |
bool DUNE::Control::PathController::TrackingState::cc |
Set if course control is enabled.
Referenced by Control::Path::VectorField::Task::loiter(), Control::Path::ILOS::Task::loiter(), DUNE::Control::PathController::onUpdateParameters(), Control::Path::PurePursuit::Task::step(), and Control::Path::VectorField::Task::step().
double DUNE::Control::PathController::TrackingState::course |
current ground course if course control enabled, yaw otherwise.
Referenced by Control::Path::VectorField::Task::loiter(), Control::Path::ILOS::Task::loiter(), Control::Path::PurePursuit::Task::step(), and Control::Path::VectorField::Task::step().
double DUNE::Control::PathController::TrackingState::course_error |
course error in relation to track bearing.
Referenced by DUNE::Control::PathController::consume(), and Control::Path::LOSnSMC::Task::step().
double DUNE::Control::PathController::TrackingState::delta |
time since last control step invocation.
Referenced by DUNE::Control::PathController::consume().
struct DUNE::Control::PathController::TrackingState::Coord DUNE::Control::PathController::TrackingState::end |
double DUNE::Control::PathController::TrackingState::end_time |
end time (wall clock).
Referenced by DUNE::Control::PathController::consume(), and DUNE::Control::PathController::onUpdateParameters().
double DUNE::Control::PathController::TrackingState::eta |
eta estimate.
struct DUNE::Control::PathController::TrackingState::LoiterData DUNE::Control::PathController::TrackingState::loiter |
bool DUNE::Control::PathController::TrackingState::loitering |
Set if loitering.
Referenced by DUNE::Control::PathController::consume(), and DUNE::Control::PathController::onUpdateParameters().
double DUNE::Control::PathController::TrackingState::los_angle |
angle from current position to end (line-of-sight angle).
Referenced by Control::Path::VectorField::Task::loiter(), Control::Path::ILOS::Task::loiter(), DUNE::Control::PathController::loiter(), and Control::Path::PurePursuit::Task::step().
bool DUNE::Control::PathController::TrackingState::nearby |
Set if near endpoint.
Referenced by DUNE::Control::PathController::consume(), and DUNE::Control::PathController::onUpdateParameters().
double DUNE::Control::PathController::TrackingState::now |
current time (wall clock).
Referenced by DUNE::Control::PathController::consume().
double DUNE::Control::PathController::TrackingState::range |
range from current position to end.
Referenced by Control::Path::VectorField::Task::loiter(), and Control::Path::ILOS::Task::loiter().
double DUNE::Control::PathController::TrackingState::speed |
current ground speed if course control enabled, body-fixed frame u speed otherwise.
Referenced by Control::Path::VectorField::Task::step(), and Control::Path::LOSnSMC::Task::step().
struct DUNE::Control::PathController::TrackingState::Coord DUNE::Control::PathController::TrackingState::start |
Referenced by DUNE::Control::PathController::consume(), and DUNE::Control::PathController::loiter().
double DUNE::Control::PathController::TrackingState::start_time |
start time (wall clock).
Referenced by DUNE::Control::PathController::consume().
double DUNE::Control::PathController::TrackingState::track_bearing |
bearing from start to end.
Referenced by DUNE::Control::PathController::consume(), DUNE::Control::PathController::loiter(), Control::Path::VectorField::Task::step(), Control::Path::LOSnSMC::Task::step(), and Control::Path::ILOS::Task::step().
double DUNE::Control::PathController::TrackingState::track_length |
distance from start to end.
Referenced by DUNE::Control::PathController::consume(), DUNE::Control::PathController::loiter(), Control::Path::VectorField::Task::step(), and Control::Path::ILOS::Task::step().
struct DUNE::Control::PathController::TrackingState::TrackCoord DUNE::Control::PathController::TrackingState::track_pos |
struct DUNE::Control::PathController::TrackingState::TrackCoord DUNE::Control::PathController::TrackingState::track_vel |
Referenced by Control::UAV::LOS::Task::step(), and Control::Path::LOSnSMC::Task::step().
bool DUNE::Control::PathController::TrackingState::z_control |
Set if altitude control is defined.
Referenced by DUNE::Control::PathController::consume(), and DUNE::Control::PathController::onUpdateParameters().