#include "nav_parametric_2d_trefoil.h"
#include "modules/guidance/gvf_parametric/gvf_parametric.h"

Include dependency graph for nav_parametric_2d_trefoil.c:

Macros
#define	GVF_PARAMETRIC_2D_TREFOIL_KX 0.001
	Guiding vector field algorithm for 2D and 3D complex trajectories.

#define	GVF_PARAMETRIC_2D_TREFOIL_KY 0.001

#define	GVF_PARAMETRIC_2D_TREFOIL_W1 0.02

#define	GVF_PARAMETRIC_2D_TREFOIL_W2 0.03

#define	GVF_PARAMETRIC_2D_TREFOIL_RATIO 160

#define	GVF_PARAMETRIC_2D_TREFOIL_R 80

#define	GVF_PARAMETRIC_2D_TREFOIL_ALPHA 0

Functions
bool	nav_gvf_parametric_2D_trefoil_XY (float xo, float yo, float w1, float w2, float ratio, float r, float alpha)

bool	nav_gvf_parametric_2D_trefoil_wp (uint8_t wp, float w1, float w2, float ratio, float r, float alpha)

Variables
gvf_par_2d_tre_par	gvf_parametric_2d_trefoil_par

static int	gvf_parametric_p_len_wps = 0

Macro Definition Documentation

◆ GVF_PARAMETRIC_2D_TREFOIL_ALPHA

#define GVF_PARAMETRIC_2D_TREFOIL_ALPHA 0

Default orientation for the 2d trefoil trajectory

Definition at line 62 of file nav_parametric_2d_trefoil.c.

◆ GVF_PARAMETRIC_2D_TREFOIL_KX

#define GVF_PARAMETRIC_2D_TREFOIL_KX 0.001

Guiding vector field algorithm for 2D and 3D complex trajectories.

2D trefoil know

Default gain kx for the 2d trefoil knot trajectory

Definition at line 32 of file nav_parametric_2d_trefoil.c.

◆ GVF_PARAMETRIC_2D_TREFOIL_KY

#define GVF_PARAMETRIC_2D_TREFOIL_KY 0.001

Default gain ky for the 2d trefoil knot trajectory

Definition at line 37 of file nav_parametric_2d_trefoil.c.

◆ GVF_PARAMETRIC_2D_TREFOIL_R

#define GVF_PARAMETRIC_2D_TREFOIL_R 80

Default radius of the circles for the 2d trefoil trajectory

Definition at line 57 of file nav_parametric_2d_trefoil.c.

◆ GVF_PARAMETRIC_2D_TREFOIL_RATIO

#define GVF_PARAMETRIC_2D_TREFOIL_RATIO 160

Default ratio for the 2d trefoil trajectory

Definition at line 52 of file nav_parametric_2d_trefoil.c.

◆ GVF_PARAMETRIC_2D_TREFOIL_W1

#define GVF_PARAMETRIC_2D_TREFOIL_W1 0.02

Default 1st frequency for the 2d trefoil trajectory

Definition at line 42 of file nav_parametric_2d_trefoil.c.

◆ GVF_PARAMETRIC_2D_TREFOIL_W2

#define GVF_PARAMETRIC_2D_TREFOIL_W2 0.03

Default 2nd frequency for the 2d trefoil trajectory

Definition at line 47 of file nav_parametric_2d_trefoil.c.

Function Documentation

◆ nav_gvf_parametric_2D_trefoil_wp()

bool nav_gvf_parametric_2D_trefoil_wp	(	uint8_t	wp,
		float	w1,
		float	w2,
		float	ratio,
		float	r,
		float	alpha
	)

Definition at line 101 of file nav_parametric_2d_trefoil.c.

References alpha, gvf_parametric_p_len_wps, gvf_parametric_trajectory, nav_gvf_parametric_2D_trefoil_XY(), gvf_parametric_tra::p_parametric, WaypointX, and WaypointY.

Here is the call graph for this function:

◆ nav_gvf_parametric_2D_trefoil_XY()

bool nav_gvf_parametric_2D_trefoil_XY	(	float	xo,
		float	yo,
		float	w1,
		float	w2,
		float	ratio,
		float	r,
		float	alpha
	)

Definition at line 78 of file nav_parametric_2d_trefoil.c.

References alpha, gvf_parametric_con::beta, foo, gvf_parametric_2d_trefoil_info(), gvf_parametric_2d_trefoil_par, gvf_parametric_control, gvf_parametric_control_2D(), gvf_parametric_p_len_wps, gvf_parametric_trajectory, gvf_par_2d_tre_par::kx, gvf_par_2d_tre_par::ky, gvf_parametric_tra::p_len, gvf_parametric_tra::p_parametric, gvf_parametric_con::s, TREFOIL_2D, gvf_parametric_tra::type, and gvf_parametric_con::w.

Referenced by nav_gvf_parametric_2D_trefoil_wp().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

◆ gvf_parametric_2d_trefoil_par

gvf_par_2d_tre_par gvf_parametric_2d_trefoil_par

Initial value:

= {
  GVF_PARAMETRIC_2D_TREFOIL_KX, GVF_PARAMETRIC_2D_TREFOIL_KY, 
  GVF_PARAMETRIC_2D_TREFOIL_W1, GVF_PARAMETRIC_2D_TREFOIL_W2, 
  GVF_PARAMETRIC_2D_TREFOIL_RATIO, GVF_PARAMETRIC_2D_TREFOIL_R, 
  GVF_PARAMETRIC_2D_TREFOIL_ALPHA
}