gvf_ik.h File Reference

#include "std.h"
#include "modules/guidance/gvf_common.h"
#include "modules/guidance/trajectories/gvf_traj.h"

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Data Structures
struct	gvf_ik_con
struct	gvf_ik_tel

Macros
#define	GVF_GRAVITY   9.806
#define	GVF_IK_GAMMA_AMPLITUDE   0
#define	GVF_IK_GAMMA_OMEGA   0
#define	GVF_OCAML_GCS   true

Functions
void	gvf_ik_init (void)
	EXTERN FUNCTIONS ----------------------------------------------------—.
void	gvf_ik_control_2D (float ke, float kn, float e, struct gvf_grad *, struct gvf_Hess *)
void	gvf_ik_set_direction (int8_t s)

Variables
gvf_ik_con	gvf_ik_control

---

Data Structure Documentation

gvf_ik_con

struct gvf_ik_con

Definition at line 60 of file gvf_ik.h.

Data Fields
float	error
float	error_n
float	gamma
float	gamma_amplitude
float	gamma_dot
float	gamma_omega
float	ke
float	kn
float	phi
int8_t	s

gvf_ik_tel

struct gvf_ik_tel

Definition at line 74 of file gvf_ik.h.

Data Fields
float	n_norm
float	omega
float	omega_d
float	t_norm

Macro Definition Documentation

GVF_GRAVITY

#define GVF_GRAVITY   9.806

Definition at line 31 of file gvf_ik.h.

GVF_IK_GAMMA_AMPLITUDE

#define GVF_IK_GAMMA_AMPLITUDE   0

GVF-IK settings

Definition at line 35 of file gvf_ik.h.

GVF_IK_GAMMA_OMEGA

#define GVF_IK_GAMMA_OMEGA   0

Definition at line 39 of file gvf_ik.h.

GVF_OCAML_GCS

#define GVF_OCAML_GCS   true

Default GCS trajectory painter

Definition at line 44 of file gvf_ik.h.

Function Documentation

gvf_ik_control_2D()

void gvf_ik_control_2D ( float  ke, float  kn, float  e, struct gvf_grad *  grad, struct gvf_Hess *  hess  )

extern

Definition at line 141 of file gvf_ik.c.

References alpha, check_alpha(), gvf_common_state::course, course, gvf_ik_con::error, gvf_ik_con::error_n, foo, gvf_ik_con::gamma, gvf_ik_con::gamma_amplitude, gvf_ik_con::gamma_dot, gvf_ik_con::gamma_omega, gamma_t0, get_sys_time_msec(), gvf_c_info, gvf_c_state, gvf_ik_control, gvf_ik_telemetry, gvf_low_level_control_2D(), gvf_low_level_getState(), gvf_common_info::kappa, last_gvf_t0, gvf_ik_tel::n_norm, gvf_ik_tel::omega, gvf_ik_tel::omega_d, gvf_common_info::ori_err, gvf_ik_con::phi, gvf_common_state::px_dot, gvf_common_state::py_dot, reset_gamma_t0(), gvf_ik_con::s, s, and gvf_ik_tel::t_norm.

Referenced by gvf_ik_line(), nav_gvf_ik_ellipse_XY(), and nav_gvf_ik_sin_XY_alpha().

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gvf_ik_init()

void gvf_ik_init ( void  )

extern

EXTERN FUNCTIONS ----------------------------------------------------—.

---

Definition at line 123 of file gvf_ik.c.

References DefaultPeriodic, foo, gvf_ik_con::gamma_amplitude, gvf_ik_con::gamma_omega, gvf_ik_control, GVF_IK_GAMMA_AMPLITUDE, GVF_IK_GAMMA_OMEGA, gvf_trajectory, gvf_ik_con::ke, gvf_ik_con::kn, NONE, register_periodic_telemetry(), reset_gamma_t0(), gvf_ik_con::s, send_gvf(), and gvf_tra::type.

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gvf_ik_set_direction()

void gvf_ik_set_direction ( int8_t  s )

extern

Definition at line 294 of file gvf_ik.c.

References gvf_ik_control, gvf_ik_con::s, and s.

Referenced by nav_gvf_ik_line_XY_heading(), and nav_gvf_ik_segment_loop_XY1_XY2().

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Variable Documentation

gvf_ik_control

gvf_ik_con gvf_ik_control

extern

Definition at line 35 of file gvf_ik.c.

Referenced by check_alpha(), gvf_ik_control_2D(), gvf_ik_init(), gvf_ik_line(), gvf_ik_set_direction(), nav_gvf_ik_ellipse_XY(), nav_gvf_ik_sin_XY_alpha(), and send_gvf().