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"
#include "modules/guidance/gvf_parametric/trajectories/gvf_parametric_2d_bezier_splines.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 , BEZIER_2D = 3 , 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_2D_bezier_wp (uint8_t)

bool	gvf_parametric_2D_bezier_XY (void)

bool	gvf_parametric_3D_ellipse_XYZ (float, float, float, float, float, float)

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

bezier_t	gvf_bezier_2D [GVF_PARAMETRIC_2D_BEZIER_N_SEG]

Detailed Description

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

Definition in file gvf_parametric.h.

Data Structure Documentation

◆ gvf_parametric_con

struct gvf_parametric_con

Definition at line 79 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 101 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
BEZIER_2D
NONE_PARAMETRIC

Definition at line 93 of file gvf_parametric.h.

Function Documentation

◆ gvf_parametric_2D_bezier_wp()

bool gvf_parametric_2D_bezier_wp ( uint8_t first_wp )

Definition at line 382 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, create_bezier_spline(), gvf_bezier_2D, GVF_PARAMETRIC_2D_BEZIER_N_SEG, gvf_parametric_2d_bezier_par, gvf_parametric_2D_bezier_XY(), gvf_parametric_control, gvf_parametric_plen, gvf_parametric_plen_wps, gvf_parametric_splines_ctr, gvf_parametric_trajectory, gvf_par_2d_bezier_par::kx, gvf_par_2d_bezier_par::ky, gvf_parametric_tra::p_parametric, gvf_parametric_con::w, WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

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◆ gvf_parametric_2D_bezier_XY()

bool gvf_parametric_2D_bezier_XY ( void )

Definition at line 369 of file gvf_parametric.cpp.

References BEZIER_2D, gvf_bezier_2D, gvf_parametric_2d_bezier_par, gvf_parametric_2d_bezier_splines_info(), gvf_parametric_control_2D(), gvf_parametric_trajectory, gvf_par_2d_bezier_par::kx, gvf_par_2d_bezier_par::ky, and gvf_parametric_tra::type.

Referenced by gvf_parametric_2D_bezier_wp().

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◆ 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 360 of file gvf_parametric.cpp.

References alpha, gvf_parametric_2D_trefoil_XY(), gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, WaypointX, and WaypointY.

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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 338 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	,
		float	,
		float	,
		float	,
		float
	)

◆ gvf_parametric_3D_ellipse_wp_delta()

bool gvf_parametric_3D_ellipse_wp_delta	(	uint8_t	,
		float	,
		float	,
		float	,
		float
	)

◆ gvf_parametric_3D_ellipse_XYZ()

bool gvf_parametric_3D_ellipse_XYZ	(	float	,
		float	,
		float	,
		float	,
		float	,
		float
	)

◆ gvf_parametric_3D_lissajous_wp_center()

bool gvf_parametric_3D_lissajous_wp_center	(	uint8_t	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float
	)

◆ gvf_parametric_3D_lissajous_XYZ()

bool gvf_parametric_3D_lissajous_XYZ	(	float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float
	)

◆ 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 125 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_c_info, gvf_c_omega, 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_common_params::kappa, gvf_parametric_con::L, gvf_common_omega::omega, gvf_common_params::ori_err, 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_bezier_XY(), and gvf_parametric_2D_trefoil_XY().

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◆ gvf_parametric_control_3D()

void gvf_parametric_control_3D	(	float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float	,
		float
	)

◆ gvf_parametric_init()

void gvf_parametric_init ( void )

Definition at line 100 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 120 of file gvf_parametric.cpp.

References gvf_parametric_control, gvf_parametric_con::s, and s.

Variable Documentation

◆ gvf_bezier_2D

bezier_t gvf_bezier_2D[GVF_PARAMETRIC_2D_BEZIER_N_SEG]

extern

Definition at line 60 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2D_bezier_wp(), and gvf_parametric_2D_bezier_XY().

◆ gvf_parametric_control

gvf_parametric_con gvf_parametric_control

extern

Definition at line 47 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2d_bezier_splines_info(), gvf_parametric_2D_bezier_wp(), gvf_parametric_2d_trefoil_info(), gvf_parametric_3d_ellipse_info(), gvf_parametric_3d_lissajous_info(), gvf_parametric_control_2D(), 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 50 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2D_bezier_wp(), gvf_parametric_2D_bezier_XY(), gvf_parametric_2d_trefoil_info(), gvf_parametric_2D_trefoil_wp(), gvf_parametric_2D_trefoil_XY(), gvf_parametric_3d_ellipse_info(), gvf_parametric_3d_lissajous_info(), gvf_parametric_control_2D(), and send_gvf_parametric().

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Data Structure Documentation

◆ gvf_parametric_con

◆ gvf_parametric_tra

Macro Definition Documentation

◆ GVF_OCAML_GCS

◆ GVF_PARAMETRIC_CONTROL_BETA

◆ GVF_PARAMETRIC_CONTROL_KCLIMB

◆ GVF_PARAMETRIC_CONTROL_KPSI

◆ GVF_PARAMETRIC_CONTROL_KROLL

◆ GVF_PARAMETRIC_CONTROL_L

◆ GVF_PARAMETRIC_GRAVITY

Enumeration Type Documentation

◆ trajectories_parametric

Function Documentation

◆ gvf_parametric_2D_bezier_wp()

◆ gvf_parametric_2D_bezier_XY()

◆ gvf_parametric_2D_trefoil_wp()

◆ gvf_parametric_2D_trefoil_XY()

◆ gvf_parametric_3D_ellipse_wp()

◆ gvf_parametric_3D_ellipse_wp_delta()

◆ gvf_parametric_3D_ellipse_XYZ()

◆ gvf_parametric_3D_lissajous_wp_center()

◆ gvf_parametric_3D_lissajous_XYZ()

◆ gvf_parametric_control_2D()

◆ gvf_parametric_control_3D()

◆ gvf_parametric_init()

◆ gvf_parametric_set_direction()

Variable Documentation

◆ gvf_bezier_2D

◆ gvf_parametric_control

◆ gvf_parametric_trajectory