Maneuver::VehicleFormation::FormCollAvoid::RelState Struct Reference

Public Member Functions
	RelState ()

Public Attributes
std::string	s_id
double	dist
double	err
double	ctrl_imp
double	rel_dir_x
double	rel_dir_y
double	rel_dir_z
double	err_x
double	err_y
double	err_z
double	rf_err_x
double	rf_err_y
double	rf_err_z
double	rf_err_vx
double	rf_err_vy
double	rf_err_vz
double	ss_x
double	ss_y
double	ss_z
double	virt_err_x
double	virt_err_y
double	virt_err_z

Constructor & Destructor Documentation

RelState()

Maneuver::VehicleFormation::FormCollAvoid::RelState::RelState ( )

inline

Member Data Documentation

ctrl_imp

double Maneuver::VehicleFormation::FormCollAvoid::RelState::ctrl_imp

Weight in the computation of the desired acceleration.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume().

dist

double Maneuver::VehicleFormation::FormCollAvoid::RelState::dist

Distance between vehicles.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

err

double Maneuver::VehicleFormation::FormCollAvoid::RelState::err

Relative position error norm.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

err_x

double Maneuver::VehicleFormation::FormCollAvoid::RelState::err_x

Relative position error in the fixed reference frame.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

err_y

double Maneuver::VehicleFormation::FormCollAvoid::RelState::err_y

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

err_z

double Maneuver::VehicleFormation::FormCollAvoid::RelState::err_z

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume().

rel_dir_x

double Maneuver::VehicleFormation::FormCollAvoid::RelState::rel_dir_x

Inter-vehicle direction vector.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

rel_dir_y

double Maneuver::VehicleFormation::FormCollAvoid::RelState::rel_dir_y

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

rel_dir_z

double Maneuver::VehicleFormation::FormCollAvoid::RelState::rel_dir_z

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume().

rf_err_vx

double Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_vx

Relative velocity error in the inter-vehicle reference frame.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

rf_err_vy

double Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_vy

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

rf_err_vz

double Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_vz

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume().

rf_err_x

double Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_x

Relative position error in the inter-vehicle reference frame.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

rf_err_y

double Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_y

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

rf_err_z

double Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_z

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume().

s_id

std::string Maneuver::VehicleFormation::FormCollAvoid::RelState::s_id

Identifier of the vehicle whose relative state is being reported.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

ss_x

double Maneuver::VehicleFormation::FormCollAvoid::RelState::ss_x

Deviation from convergence (sliding surface value).

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

ss_y

double Maneuver::VehicleFormation::FormCollAvoid::RelState::ss_y

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

ss_z

double Maneuver::VehicleFormation::FormCollAvoid::RelState::ss_z

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume().

virt_err_x

double Maneuver::VehicleFormation::FormCollAvoid::RelState::virt_err_x

Relative virtual error.

(Component of the vehicle desired acceleration)

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

virt_err_y

double Maneuver::VehicleFormation::FormCollAvoid::RelState::virt_err_y

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().

virt_err_z

double Maneuver::VehicleFormation::FormCollAvoid::RelState::virt_err_z

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume().

Collaboration diagram for Maneuver::VehicleFormation::FormCollAvoid::RelState: