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gvf_parametric.h File Reference

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

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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
 

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.


Data Structure Documentation

struct gvf_parametric_con

Definition at line 74 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
struct gvf_parametric_tra

Definition at line 95 of file gvf_parametric.h.

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

Macro Definition Documentation

#define GVF_PARAMETRIC_CONTROL_BETA   0.01

Default scale for w

Definition at line 49 of file gvf_parametric.h.

Referenced by gvf_parametric_init().

#define GVF_PARAMETRIC_CONTROL_KCLIMB   1

Default gain kclimb for tuning the climbing setting point

Definition at line 39 of file gvf_parametric.h.

Referenced by gvf_parametric_init().

#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.

Referenced by gvf_parametric_init().

#define GVF_PARAMETRIC_CONTROL_KROLL   1

Default gain kroll for tuning the "coordinated turn"

Definition at line 34 of file gvf_parametric.h.

Referenced by gvf_parametric_init().

#define GVF_PARAMETRIC_CONTROL_L   0.1

Default scale for the error signals

Definition at line 44 of file gvf_parametric.h.

Referenced by gvf_parametric_init().

#define GVF_PARAMETRIC_GRAVITY   9.806

Enumeration Type Documentation

Enumerator
TREFOIL_2D 
ELLIPSE_3D 
LISSAJOUS_3D 
NONE_PARAMETRIC 

Definition at line 88 of file gvf_parametric.h.

Function Documentation

bool gvf_parametric_2D_trefoil_wp ( uint8_t  ,
float  ,
float  ,
float  ,
float  ,
float   
)

Definition at line 343 of file gvf_parametric.cpp.

References gvf_parametric_2D_trefoil_XY(), waypoints, EnuCoor_f::x, and EnuCoor_f::y.

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bool gvf_parametric_2D_trefoil_XY ( float  ,
float  ,
float  ,
float  ,
float  ,
float  ,
float   
)
bool gvf_parametric_3D_ellipse_wp ( uint8_t  ,
float  ,
float  ,
float  ,
float   
)

Definition at line 385 of file gvf_parametric.cpp.

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

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

Definition at line 391 of file gvf_parametric.cpp.

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

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bool gvf_parametric_3D_ellipse_XYZ ( 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   
)

Definition at line 435 of file gvf_parametric.cpp.

References gvf_parametric_3D_lissajous_XYZ(), waypoints, EnuCoor_f::x, and EnuCoor_f::y.

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bool gvf_parametric_3D_lissajous_XYZ ( float  ,
float  ,
float  ,
float  ,
float  ,
float  ,
float  ,
float  ,
float  ,
float  ,
float  ,
float  ,
float   
)
void gvf_parametric_set_direction ( int8_t  s)

Definition at line 125 of file gvf_parametric.cpp.

References gvf_parametric_control, s, and gvf_parametric_con::s.

Variable Documentation