gvf_parametric.h File Reference

Guiding vector field algorithm for 2D and 3D parametric trajectories. More...

#include "modules/guidance/gvf_parametric/trajectories/gvf_parametric_3d_ellipse.h"
#include "modules/guidance/gvf_parametric/trajectories/gvf_parametric_3d_lissajous.h"
#include "modules/guidance/gvf_parametric/trajectories/gvf_parametric_2d_trefoil.h"

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Data Structures
struct	gvf_parametric_con
struct	gvf_parametric_tra

Macros
#define	GVF_PARAMETRIC_GRAVITY   9.806
#define	GVF_PARAMETRIC_CONTROL_KROLL   1
#define	GVF_PARAMETRIC_CONTROL_KCLIMB   1
#define	GVF_PARAMETRIC_CONTROL_L   0.1
#define	GVF_PARAMETRIC_CONTROL_BETA   0.01
#define	GVF_PARAMETRIC_CONTROL_KPSI   1
#define	GVF_OCAML_GCS   true

Enumerations
enum	trajectories_parametric { TREFOIL_2D = 0 , ELLIPSE_3D = 1 , LISSAJOUS_3D = 2 , NONE_PARAMETRIC = 255 }

Functions
void	gvf_parametric_init (void)
void	gvf_parametric_set_direction (int8_t s)
void	gvf_parametric_control_2D (float, float, float, float, float, float, float, float)
void	gvf_parametric_control_3D (float, float, float, float, float, float, float, float, float, float, float, float)
bool	gvf_parametric_2D_trefoil_XY (float, float, float, float, float, float, float)
	2D TRAJECTORIES More...
bool	gvf_parametric_2D_trefoil_wp (uint8_t, float, float, float, float, float)
bool	gvf_parametric_3D_ellipse_XYZ (float, float, float, float, float, float)
	3D TRAJECTORIES More...
bool	gvf_parametric_3D_ellipse_wp (uint8_t, float, float, float, float)
bool	gvf_parametric_3D_ellipse_wp_delta (uint8_t, float, float, float, float)
bool	gvf_parametric_3D_lissajous_XYZ (float, float, float, float, float, float, float, float, float, float, float, float, float)
bool	gvf_parametric_3D_lissajous_wp_center (uint8_t, float, float, float, float, float, float, float, float, float, float, float)

Variables
gvf_parametric_con	gvf_parametric_control
gvf_parametric_tra	gvf_parametric_trajectory

Detailed Description

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

Definition in file gvf_parametric.h.

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Data Structure Documentation

gvf_parametric_con

struct gvf_parametric_con

Definition at line 78 of file gvf_parametric.h.

Data Fields
float	beta
float	delta_T
float	k_climb
float	k_psi
float	k_roll
float	L
int8_t	s
float	w

gvf_parametric_tra

struct gvf_parametric_tra

Definition at line 99 of file gvf_parametric.h.

Data Fields
float	p_parametric[16]
float	phi_errors[3]
enum trajectories_parametric	type

Macro Definition Documentation

GVF_OCAML_GCS

#define GVF_OCAML_GCS   true

Default GCS trajectory painter

Definition at line 59 of file gvf_parametric.h.

GVF_PARAMETRIC_CONTROL_BETA

#define GVF_PARAMETRIC_CONTROL_BETA   0.01

Default scale for w

Definition at line 49 of file gvf_parametric.h.

GVF_PARAMETRIC_CONTROL_KCLIMB

#define GVF_PARAMETRIC_CONTROL_KCLIMB   1

Default gain kclimb for tuning the climbing setting point

Definition at line 39 of file gvf_parametric.h.

GVF_PARAMETRIC_CONTROL_KPSI

#define GVF_PARAMETRIC_CONTROL_KPSI   1

Default gain kpsi for tuning the alignment of the vehicle with the vector field

Definition at line 54 of file gvf_parametric.h.

GVF_PARAMETRIC_CONTROL_KROLL

#define GVF_PARAMETRIC_CONTROL_KROLL   1

Default gain kroll for tuning the "coordinated turn"

Definition at line 34 of file gvf_parametric.h.

GVF_PARAMETRIC_CONTROL_L

#define GVF_PARAMETRIC_CONTROL_L   0.1

Default scale for the error signals

Definition at line 44 of file gvf_parametric.h.

GVF_PARAMETRIC_GRAVITY

#define GVF_PARAMETRIC_GRAVITY   9.806

Definition at line 30 of file gvf_parametric.h.

Enumeration Type Documentation

trajectories_parametric

enum trajectories_parametric

Enumerator
TREFOIL_2D
ELLIPSE_3D
LISSAJOUS_3D
NONE_PARAMETRIC

Definition at line 92 of file gvf_parametric.h.

Function Documentation

gvf_parametric_2D_trefoil_wp()

bool gvf_parametric_2D_trefoil_wp	(	uint8_t	wp,
		float	w1,
		float	w2,
		float	ratio,
		float	r,
		float	alpha
	)

Definition at line 344 of file gvf_parametric.cpp.

References alpha, gvf_parametric_2D_trefoil_XY(), gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, waypoints, EnuCoor_f::x, and EnuCoor_f::y.

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gvf_parametric_2D_trefoil_XY()

bool gvf_parametric_2D_trefoil_XY	(	float	xo,
		float	yo,
		float	w1,
		float	w2,
		float	ratio,
		float	r,
		float	alpha
	)

2D TRAJECTORIES

Definition at line 322 of file gvf_parametric.cpp.

References alpha, gvf_parametric_2d_trefoil_info(), gvf_parametric_2d_trefoil_par, gvf_parametric_control_2D(), gvf_parametric_plen, gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_par_2d_tre_par::kx, gvf_par_2d_tre_par::ky, gvf_parametric_tra::p_parametric, TREFOIL_2D, and gvf_parametric_tra::type.

Referenced by gvf_parametric_2D_trefoil_wp().

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gvf_parametric_3D_ellipse_wp()

bool gvf_parametric_3D_ellipse_wp	(	uint8_t	wp,
		float	r,
		float	zl,
		float	zh,
		float	alpha
	)

Definition at line 391 of file gvf_parametric.cpp.

References alpha, gvf_parametric_3D_ellipse_XYZ(), gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, waypoints, EnuCoor_f::x, and EnuCoor_f::y.

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gvf_parametric_3D_ellipse_wp_delta()

bool gvf_parametric_3D_ellipse_wp_delta	(	uint8_t	wp,
		float	r,
		float	alt_center,
		float	delta,
		float	alpha
	)

Definition at line 400 of file gvf_parametric.cpp.

References alpha, gvf_parametric_3D_ellipse_XYZ(), waypoints, EnuCoor_f::x, and EnuCoor_f::y.

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gvf_parametric_3D_ellipse_XYZ()

bool gvf_parametric_3D_ellipse_XYZ	(	float	xo,
		float	yo,
		float	r,
		float	zl,
		float	zh,
		float	alpha
	)

3D TRAJECTORIES

Definition at line 356 of file gvf_parametric.cpp.

References alpha, ELLIPSE_3D, gvf_parametric_3d_ellipse_info(), gvf_parametric_3d_ellipse_par, gvf_parametric_control_3D(), gvf_parametric_plen, gvf_parametric_plen_wps, gvf_parametric_trajectory, horizontal_mode, HORIZONTAL_MODE_CIRCLE, gvf_par_3d_ell_par::kx, gvf_par_3d_ell_par::ky, gvf_par_3d_ell_par::kz, gvf_parametric_tra::p_parametric, and gvf_parametric_tra::type.

Referenced by gvf_parametric_3D_ellipse_wp(), and gvf_parametric_3D_ellipse_wp_delta().

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gvf_parametric_3D_lissajous_wp_center()

bool gvf_parametric_3D_lissajous_wp_center	(	uint8_t	wp,
		float	zo,
		float	cx,
		float	cy,
		float	cz,
		float	wx,
		float	wy,
		float	wz,
		float	dx,
		float	dy,
		float	dz,
		float	alpha
	)

Definition at line 446 of file gvf_parametric.cpp.

References alpha, gvf_parametric_3D_lissajous_XYZ(), gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, waypoints, EnuCoor_f::x, and EnuCoor_f::y.

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gvf_parametric_3D_lissajous_XYZ()

bool gvf_parametric_3D_lissajous_XYZ	(	float	xo,
		float	yo,
		float	zo,
		float	cx,
		float	cy,
		float	cz,
		float	wx,
		float	wy,
		float	wz,
		float	dx,
		float	dy,
		float	dz,
		float	alpha
	)

Definition at line 411 of file gvf_parametric.cpp.

References alpha, gvf_parametric_3d_lissajous_info(), gvf_parametric_3d_lissajous_par, gvf_parametric_control_3D(), gvf_parametric_plen, gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_par_3d_lis_par::kx, gvf_par_3d_lis_par::ky, gvf_par_3d_lis_par::kz, LISSAJOUS_3D, gvf_parametric_tra::p_parametric, and gvf_parametric_tra::type.

Referenced by gvf_parametric_3D_lissajous_wp_center().

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gvf_parametric_control_2D()

void gvf_parametric_control_2D	(	float	kx,
		float	ky,
		float	f1,
		float	f2,
		float	f1d,
		float	f2d,
		float	f1dd,
		float	f2dd
	)

Definition at line 118 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, course, gvf_parametric_con::delta_T, desired_x, desired_y, get_sys_time_msec(), ground_speed, gvf_parametric_control, gvf_parametric_elen, gvf_parametric_low_level_control_2D(), gvf_parametric_t0, gvf_parametric_trajectory, h(), I, J, gvf_parametric_con::k_psi, gvf_parametric_con::L, gvf_parametric_tra::phi_errors, gvf_parametric_con::s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), gvf_parametric_con::w, EnuCoor_f::x, mesonh.mesonh_atmosphere::X, and EnuCoor_f::y.

Referenced by gvf_parametric_2D_trefoil_XY().

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gvf_parametric_control_3D()

void gvf_parametric_control_3D	(	float	kx,
		float	ky,
		float	kz,
		float	f1,
		float	f2,
		float	f3,
		float	f1d,
		float	f2d,
		float	f3d,
		float	f1dd,
		float	f2dd,
		float	f3dd
	)

Definition at line 212 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, course, gvf_parametric_con::delta_T, desired_x, desired_y, E, get_sys_time_msec(), ground_speed, gvf_parametric_control, gvf_parametric_elen, gvf_parametric_low_level_control_3D(), gvf_parametric_t0, gvf_parametric_trajectory, h(), I, J, gvf_parametric_con::k_psi, gvf_parametric_con::L, gvf_parametric_tra::phi_errors, gvf_parametric_con::s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), gvf_parametric_con::w, EnuCoor_f::x, mesonh.mesonh_atmosphere::X, EnuCoor_f::y, and EnuCoor_f::z.

Referenced by gvf_parametric_3D_ellipse_XYZ(), and gvf_parametric_3D_lissajous_XYZ().

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gvf_parametric_init()

void gvf_parametric_init

(

void

)

Definition at line 93 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, DefaultPeriodic, gvf_parametric_con::delta_T, gvf_parametric_control, GVF_PARAMETRIC_CONTROL_BETA, GVF_PARAMETRIC_CONTROL_KCLIMB, GVF_PARAMETRIC_CONTROL_KPSI, GVF_PARAMETRIC_CONTROL_KROLL, GVF_PARAMETRIC_CONTROL_L, gvf_parametric_con::k_climb, gvf_parametric_con::k_psi, gvf_parametric_con::k_roll, gvf_parametric_con::L, register_periodic_telemetry(), gvf_parametric_con::s, send_gvf_parametric(), and gvf_parametric_con::w.

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gvf_parametric_set_direction()

void gvf_parametric_set_direction

(

int8_t

s

)

Definition at line 113 of file gvf_parametric.cpp.

References gvf_parametric_control, gvf_parametric_con::s, and s.

Variable Documentation

gvf_parametric_control

gvf_parametric_con gvf_parametric_control

extern

Definition at line 44 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2d_trefoil_info(), gvf_parametric_3d_ellipse_info(), gvf_parametric_3d_lissajous_info(), gvf_parametric_control_2D(), gvf_parametric_control_3D(), gvf_parametric_init(), gvf_parametric_low_level_control_2D(), gvf_parametric_low_level_control_3D(), gvf_parametric_set_direction(), and send_gvf_parametric().

gvf_parametric_trajectory

gvf_parametric_tra gvf_parametric_trajectory

extern

Definition at line 47 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2d_trefoil_info(), gvf_parametric_2D_trefoil_wp(), gvf_parametric_2D_trefoil_XY(), gvf_parametric_3d_ellipse_info(), gvf_parametric_3D_ellipse_wp(), gvf_parametric_3D_ellipse_XYZ(), gvf_parametric_3d_lissajous_info(), gvf_parametric_3D_lissajous_wp_center(), gvf_parametric_3D_lissajous_XYZ(), gvf_parametric_control_2D(), gvf_parametric_control_3D(), and send_gvf_parametric().