DUNE::Plans::SpeedModel Class Reference

Detailed Description

Utility class to compute offline speed conversions.

Consider ONLY positive speed. Negative values means failure to convert

Public Member Functions
	SpeedModel (Parsers::Config *config)
	SpeedModel (const std::vector< float > &act, const std::vector< float > &rpm, const std::vector< float > &mps, float time_factor=5.0, float max_speed=2.0)
float	toMPS (float value, uint8_t units) const
float	toRPM (float value, uint8_t units) const
float	toAct (float value, uint8_t units) const
void	validate (void) const
float	getTimeFactor (void) const

Constructor & Destructor Documentation

DUNE::Plans::SpeedModel::SpeedModel

(

Parsers::Config *

config

)

Constructor.

Parameters

[in]

config

pointer to config parser

References DUNE::Parsers::Config::get(), DUNE::IMC::SUNITS_METERS_PS, DUNE::IMC::SUNITS_PERCENTAGE, and DUNE::IMC::SUNITS_RPM.

DUNE::Plans::SpeedModel::SpeedModel	(	const std::vector< float > &	act,
		const std::vector< float > &	rpm,
		const std::vector< float > &	mps,
		float	time_factor = 5.0,
		float	max_speed = 2.0
	)

Constructor.

Parameters

[in]	act	values for the actuation
[in]	rpm	values for the rpms
[in]	mps	values for the meters per second
[in]	time_factor	time of arrival factor

References DUNE::IMC::SUNITS_METERS_PS, DUNE::IMC::SUNITS_PERCENTAGE, and DUNE::IMC::SUNITS_RPM.

Member Function Documentation

float DUNE::Plans::SpeedModel::getTimeFactor ( void  ) const

inline

Get time of arrival factor.

Returns

time of arrival in seconds

float DUNE::Plans::SpeedModel::toAct	(	float	value,
		uint8_t	units
	)		const

Convert to Actuation.

Parameters

[in]	value	speed value from which to convert
[in]	units	speed units of the given value

Returns

converted value to actuation, negative if failed

References DUNE::IMC::SUNITS_PERCENTAGE.

float DUNE::Plans::SpeedModel::toMPS	(	float	value,
		uint8_t	units
	)		const

Convert to meters per second.

Parameters

[in]	value	speed value from which to convert
[in]	units	speed units of the given value

Returns

converted value to meters per second, negative if failed

References DUNE::IMC::SUNITS_METERS_PS.

float DUNE::Plans::SpeedModel::toRPM	(	float	value,
		uint8_t	units
	)		const

Convert to RPMs.

Parameters

[in]	value	speed value from which to convert
[in]	units	speed units of the given value

Returns

converted value to RPMs, negative if failed

References DUNE::IMC::SUNITS_RPM.

void DUNE::Plans::SpeedModel::validate

(

void

)

const

Validate the speed model.

References DUNE::Math::piecewiseLI(), DUNE::IMC::SUNITS_METERS_PS, DUNE::IMC::SUNITS_PERCENTAGE, and DUNE::IMC::SUNITS_RPM.

Collaboration diagram for DUNE::Plans::SpeedModel: