gvf_parametric.h File Reference

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

#include "modules/guidance/gvf_common.h"
#include "modules/guidance/trajectories/gvf_param_traj.h"

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Data Structures
struct	gvf_parametric_con
struct	gvf_parametric_tel

Macros
#define	GVF_OCAML_GCS   true

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)

Variables
gvf_parametric_con	gvf_parametric_control
gvf_parametric_tel	gvf_parametric_telemetry

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 50 of file gvf_parametric.h.

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

gvf_parametric_tel

struct gvf_parametric_tel

Definition at line 59 of file gvf_parametric.h.

Data Fields
int	e_len
float	phi_errors[3]
uint32_t	splines_ctr

Macro Definition Documentation

GVF_OCAML_GCS

#define GVF_OCAML_GCS   true

Default GCS trajectory painter

Definition at line 32 of file gvf_parametric.h.

Function Documentation

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  )

extern

Definition at line 137 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, course, gvf_parametric_con::delta_T, desired_x, desired_y, gvf_parametric_tel::e_len, foo, get_sys_time_msec(), ground_speed, gvf_c_ctrl, gvf_c_info, gvf_low_level_control_2D(), gvf_parametric_control, gvf_parametric_t0, gvf_parametric_telemetry, h(), J, gvf_parametric_con::k_psi, gvf_common_info::kappa, gvf_parametric_con::L, gvf_common_ctrl::omega, gvf_common_info::ori_err, gvf_parametric_tel::phi_errors, gvf_parametric_con::s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), gvf_parametric_con::w, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by nav_gvf_parametric_2D_bezier_run(), and nav_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    )

extern

gvf_parametric_init()

void gvf_parametric_init ( void  )

extern

---

Definition at line 117 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, DefaultPeriodic, gvf_parametric_con::delta_T, foo, gvf_c_params, gvf_parametric_control, GVF_PARAMETRIC_CONTROL_BETA, GVF_PARAMETRIC_CONTROL_KCLIMB, GVF_PARAMETRIC_CONTROL_KPSI, GVF_PARAMETRIC_CONTROL_KROLL, GVF_PARAMETRIC_CONTROL_L, gvf_common_params::k_climb, gvf_parametric_con::k_psi, gvf_common_params::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 )

extern

Definition at line 347 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 64 of file gvf_parametric.cpp.

Referenced by gvf_parametric_control_2D(), gvf_parametric_init(), gvf_parametric_set_direction(), nav_gvf_parametric_2D_bezier_run(), nav_gvf_parametric_2D_bezier_wp(), nav_gvf_parametric_2D_trefoil_XY(), and send_gvf_parametric().

gvf_parametric_telemetry

gvf_parametric_tel gvf_parametric_telemetry

extern

Definition at line 65 of file gvf_parametric.cpp.

Referenced by gvf_parametric_control_2D(), nav_gvf_parametric_2D_bezier_wp(), and send_gvf_parametric().