gvf_parametric_2d_trefoil.c File Reference

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

#include "modules/nav/common_nav.h"
#include "modules/guidance/gvf_parametric/gvf_parametric.h"
#include "gvf_parametric_2d_trefoil.h"

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Macros
#define	GVF_PARAMETRIC_2D_TREFOIL_KX   0.001
#define	GVF_PARAMETRIC_2D_TREFOIL_KY   0.001
#define	GVF_PARAMETRIC_2D_TREFOIL_W1   0.02
#define	GVF_PARAMETRIC_2D_TREFOIL_W2   0.03
#define	GVF_PARAMETRIC_2D_TREFOIL_RATIO   160
#define	GVF_PARAMETRIC_2D_TREFOIL_R   80
#define	GVF_PARAMETRIC_2D_TREFOIL_ALPHA   0

Functions
void	gvf_parametric_2d_trefoil_info (float *f1, float *f2, float *f1d, float *f2d, float *f1dd, float *f2dd)

Variables
gvf_par_2d_tre_par	gvf_parametric_2d_trefoil_par = {GVF_PARAMETRIC_2D_TREFOIL_KX, GVF_PARAMETRIC_2D_TREFOIL_KY, GVF_PARAMETRIC_2D_TREFOIL_W1, GVF_PARAMETRIC_2D_TREFOIL_W2, GVF_PARAMETRIC_2D_TREFOIL_RATIO, GVF_PARAMETRIC_2D_TREFOIL_R, GVF_PARAMETRIC_2D_TREFOIL_ALPHA}

Detailed Description

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

2D trefoil know

Definition in file gvf_parametric_2d_trefoil.c.

Macro Definition Documentation

GVF_PARAMETRIC_2D_TREFOIL_ALPHA

#define GVF_PARAMETRIC_2D_TREFOIL_ALPHA   0

Default orientation for the 2d trefoil trajectory

Definition at line 65 of file gvf_parametric_2d_trefoil.c.

GVF_PARAMETRIC_2D_TREFOIL_KX

#define GVF_PARAMETRIC_2D_TREFOIL_KX   0.001

Default gain kx for the 2d trefoil knot trajectory

Definition at line 35 of file gvf_parametric_2d_trefoil.c.

GVF_PARAMETRIC_2D_TREFOIL_KY

#define GVF_PARAMETRIC_2D_TREFOIL_KY   0.001

Default gain ky for the 2d trefoil knot trajectory

Definition at line 40 of file gvf_parametric_2d_trefoil.c.

GVF_PARAMETRIC_2D_TREFOIL_R

#define GVF_PARAMETRIC_2D_TREFOIL_R   80

Default radius of the circles for the 2d trefoil trajectory

Definition at line 60 of file gvf_parametric_2d_trefoil.c.

GVF_PARAMETRIC_2D_TREFOIL_RATIO

#define GVF_PARAMETRIC_2D_TREFOIL_RATIO   160

Default ratio for the 2d trefoil trajectory

Definition at line 55 of file gvf_parametric_2d_trefoil.c.

GVF_PARAMETRIC_2D_TREFOIL_W1

#define GVF_PARAMETRIC_2D_TREFOIL_W1   0.02

Default 1st frequency for the 2d trefoil trajectory

Definition at line 45 of file gvf_parametric_2d_trefoil.c.

GVF_PARAMETRIC_2D_TREFOIL_W2

#define GVF_PARAMETRIC_2D_TREFOIL_W2   0.03

Default 2nd frequency for the 2d trefoil trajectory

Definition at line 50 of file gvf_parametric_2d_trefoil.c.

Function Documentation

gvf_parametric_2d_trefoil_info()

void gvf_parametric_2d_trefoil_info	(	float *	f1,
		float *	f2,
		float *	f1d,
		float *	f2d,
		float *	f1dd,
		float *	f2dd
	)

Definition at line 70 of file gvf_parametric_2d_trefoil.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_2D_trefoil_XY().

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Variable Documentation

gvf_parametric_2d_trefoil_par

gvf_par_2d_tre_par gvf_parametric_2d_trefoil_par = {GVF_PARAMETRIC_2D_TREFOIL_KX, GVF_PARAMETRIC_2D_TREFOIL_KY, GVF_PARAMETRIC_2D_TREFOIL_W1, GVF_PARAMETRIC_2D_TREFOIL_W2, GVF_PARAMETRIC_2D_TREFOIL_RATIO, GVF_PARAMETRIC_2D_TREFOIL_R, GVF_PARAMETRIC_2D_TREFOIL_ALPHA}

Definition at line 68 of file gvf_parametric_2d_trefoil.c.

Referenced by gvf_parametric_2D_trefoil_XY().