DUNE::Control::PathController::TrackingState Struct Reference

Detailed Description

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

Member Data Documentation

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

Referenced by DUNE::Control::PathController::consume(), DUNE::Control::PathController::loiter(), Control::Path::VectorField::Task::step(), and Control::Path::ILOS::Task::step().

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

Referenced by DUNE::Control::PathController::consume(), Control::Path::VectorField::Task::loiter(), Control::Path::ILOS::Task::loiter(), and DUNE::Control::PathController::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 DUNE::Control::PathController::getSpeed(), 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::getEta(), 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

Referenced by DUNE::Control::PathController::consume(), DUNE::Control::PathController::getEta(), DUNE::Control::PathController::loiter(), Control::Path::VectorField::Task::step(), Control::UAV::LOS::Task::step(), Control::Path::LOSnSMC::Task::step(), and Control::Path::ILOS::Task::step().

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().

Collaboration diagram for DUNE::Control::PathController::TrackingState: