gvf_parametric_3d_lissajous.c File Reference

#include "subsystems/navigation/common_nav.h"
#include "modules/guidance/gvf_parametric/gvf_parametric.h"
#include "gvf_parametric_3d_lissajous.h"

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Macros
#define	GVF_PARAMETRIC_3D_LISSAJOUS_KX   0.001
#define	GVF_PARAMETRIC_3D_LISSAJOUS_KY   0.001
#define	GVF_PARAMETRIC_3D_LISSAJOUS_KZ   0.001
#define	GVF_PARAMETRIC_3D_LISSAJOUS_CX   80
#define	GVF_PARAMETRIC_3D_LISSAJOUS_CY   80
#define	GVF_PARAMETRIC_3D_LISSAJOUS_CZ   10
#define	GVF_PARAMETRIC_3D_LISSAJOUS_WX   1
#define	GVF_PARAMETRIC_3D_LISSAJOUS_WY   1
#define	GVF_PARAMETRIC_3D_LISSAJOUS_WZ   1
#define	GVF_PARAMETRIC_3D_LISSAJOUS_DX   0
#define	GVF_PARAMETRIC_3D_LISSAJOUS_DY   0
#define	GVF_PARAMETRIC_3D_LISSAJOUS_DZ   0
#define	GVF_PARAMETRIC_3D_LISSAJOUS_ALPHA   0

Functions
void	gvf_parametric_3d_lissajous_info (float *f1, float *f2, float *f3, float *f1d, float *f2d, float *f3d, float *f1dd, float *f2dd, float *f3dd)

Variables
gvf_par_3d_lis_par	gvf_parametric_3d_lissajous_par = {GVF_PARAMETRIC_3D_LISSAJOUS_KX, GVF_PARAMETRIC_3D_LISSAJOUS_KY, GVF_PARAMETRIC_3D_LISSAJOUS_KZ, GVF_PARAMETRIC_3D_LISSAJOUS_CX, GVF_PARAMETRIC_3D_LISSAJOUS_CY, GVF_PARAMETRIC_3D_LISSAJOUS_CZ, GVF_PARAMETRIC_3D_LISSAJOUS_WX, GVF_PARAMETRIC_3D_LISSAJOUS_WY, GVF_PARAMETRIC_3D_LISSAJOUS_WZ, GVF_PARAMETRIC_3D_LISSAJOUS_DX, GVF_PARAMETRIC_3D_LISSAJOUS_DY, GVF_PARAMETRIC_3D_LISSAJOUS_DZ, GVF_PARAMETRIC_3D_LISSAJOUS_ALPHA}

Detailed Description

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

3D lissajous

Definition in file gvf_parametric_3d_lissajous.c.

Macro Definition Documentation

GVF_PARAMETRIC_3D_LISSAJOUS_ALPHA

#define GVF_PARAMETRIC_3D_LISSAJOUS_ALPHA   0

Default orientation in degrees for the trajectory in the XY plane

Definition at line 95 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_CX

#define GVF_PARAMETRIC_3D_LISSAJOUS_CX   80

Default amplitude of the trajectory in the X plane

Definition at line 50 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_CY

#define GVF_PARAMETRIC_3D_LISSAJOUS_CY   80

Default amplitude of the trajectory in the Y plane

Definition at line 55 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_CZ

#define GVF_PARAMETRIC_3D_LISSAJOUS_CZ   10

Default amplitude of the trajectory in the Z plane

Definition at line 60 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_DX

#define GVF_PARAMETRIC_3D_LISSAJOUS_DX   0

Default offphase of the trajectory in the X plane

Definition at line 80 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_DY

#define GVF_PARAMETRIC_3D_LISSAJOUS_DY   0

Default offphase of the trajectory in the Y plane

Definition at line 85 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_DZ

#define GVF_PARAMETRIC_3D_LISSAJOUS_DZ   0

Default offphase of the trajectory in the Z plane

Definition at line 90 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_KX

#define GVF_PARAMETRIC_3D_LISSAJOUS_KX   0.001

Default gain kx for the 3d lissajous trajectory

Definition at line 35 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_KY

#define GVF_PARAMETRIC_3D_LISSAJOUS_KY   0.001

Default gain ky for the 3d lissajous trajectory

Definition at line 40 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_KZ

#define GVF_PARAMETRIC_3D_LISSAJOUS_KZ   0.001

Default gain kz for the 3d lissajous trajectory

Definition at line 45 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_WX

#define GVF_PARAMETRIC_3D_LISSAJOUS_WX   1

Default frequency of the trajectory in the X plane

Definition at line 65 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_WY

#define GVF_PARAMETRIC_3D_LISSAJOUS_WY   1

Default frequency of the trajectory in the Y plane

Definition at line 70 of file gvf_parametric_3d_lissajous.c.

GVF_PARAMETRIC_3D_LISSAJOUS_WZ

#define GVF_PARAMETRIC_3D_LISSAJOUS_WZ   1

Default frequency of the trajectory in the Z plane

Definition at line 75 of file gvf_parametric_3d_lissajous.c.

Function Documentation

gvf_parametric_3d_lissajous_info()

void gvf_parametric_3d_lissajous_info	(	float *	f1,
		float *	f2,
		float *	f3,
		float *	f1d,
		float *	f2d,
		float *	f3d,
		float *	f1dd,
		float *	f2dd,
		float *	f3dd
	)

Definition at line 100 of file gvf_parametric_3d_lissajous.c.

References gvf_parametric_con::beta, gvf_parametric_control, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, gvf_parametric_con::s, and gvf_parametric_con::w.

Referenced by gvf_parametric_3D_lissajous_XYZ().

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Variable Documentation

gvf_parametric_3d_lissajous_par

gvf_par_3d_lis_par gvf_parametric_3d_lissajous_par = {GVF_PARAMETRIC_3D_LISSAJOUS_KX, GVF_PARAMETRIC_3D_LISSAJOUS_KY, GVF_PARAMETRIC_3D_LISSAJOUS_KZ, GVF_PARAMETRIC_3D_LISSAJOUS_CX, GVF_PARAMETRIC_3D_LISSAJOUS_CY, GVF_PARAMETRIC_3D_LISSAJOUS_CZ, GVF_PARAMETRIC_3D_LISSAJOUS_WX, GVF_PARAMETRIC_3D_LISSAJOUS_WY, GVF_PARAMETRIC_3D_LISSAJOUS_WZ, GVF_PARAMETRIC_3D_LISSAJOUS_DX, GVF_PARAMETRIC_3D_LISSAJOUS_DY, GVF_PARAMETRIC_3D_LISSAJOUS_DZ, GVF_PARAMETRIC_3D_LISSAJOUS_ALPHA}

Definition at line 98 of file gvf_parametric_3d_lissajous.c.

Referenced by gvf_parametric_3D_lissajous_XYZ().