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_3d_ellipse.h"

Include dependency graph for gvf_parametric_3d_ellipse.c:

Go to the source code of this file.

Macros
#define	GVF_PARAMETRIC_3D_ELLIPSE_KX 0.001

#define	GVF_PARAMETRIC_3D_ELLIPSE_KY 0.001

#define	GVF_PARAMETRIC_3D_ELLIPSE_KZ 0.001

#define	GVF_PARAMETRIC_3D_ELLIPSE_R 80

#define	GVF_PARAMETRIC_3D_ELLIPSE_ZL 40

#define	GVF_PARAMETRIC_3D_ELLIPSE_ZH 40

#define	GVF_PARAMETRIC_3D_ELLIPSE_ALPHA 0

Functions
void	gvf_parametric_3d_ellipse_info (float f1, float f2, float f3, float f1d, float f2d, float f3d, float f1dd, float f2dd, float *f3dd)

Variables
gvf_par_3d_ell_par	gvf_parametric_3d_ellipse_par

Detailed Description

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

3D ellipse (intersection between a cylinder and a tilted plane)

Definition in file gvf_parametric_3d_ellipse.c.

Macro Definition Documentation

◆ GVF_PARAMETRIC_3D_ELLIPSE_ALPHA

#define GVF_PARAMETRIC_3D_ELLIPSE_ALPHA 0

Default orientation in degrees for the lowest point of the ellipse

Definition at line 65 of file gvf_parametric_3d_ellipse.c.

◆ GVF_PARAMETRIC_3D_ELLIPSE_KX

#define GVF_PARAMETRIC_3D_ELLIPSE_KX 0.001

Default gain kx for the 3d ellipse trajectory

Definition at line 35 of file gvf_parametric_3d_ellipse.c.

◆ GVF_PARAMETRIC_3D_ELLIPSE_KY

#define GVF_PARAMETRIC_3D_ELLIPSE_KY 0.001

Default gain ky for the 3d ellipse trajectory

Definition at line 40 of file gvf_parametric_3d_ellipse.c.

◆ GVF_PARAMETRIC_3D_ELLIPSE_KZ

#define GVF_PARAMETRIC_3D_ELLIPSE_KZ 0.001

Default gain kz for the 3d ellipse trajectory

Definition at line 45 of file gvf_parametric_3d_ellipse.c.

◆ GVF_PARAMETRIC_3D_ELLIPSE_R

#define GVF_PARAMETRIC_3D_ELLIPSE_R 80

Default radius of the cylinder

Definition at line 50 of file gvf_parametric_3d_ellipse.c.

◆ GVF_PARAMETRIC_3D_ELLIPSE_ZH

#define GVF_PARAMETRIC_3D_ELLIPSE_ZH 40

Default highest point for the ellipse trajectory

Definition at line 60 of file gvf_parametric_3d_ellipse.c.

◆ GVF_PARAMETRIC_3D_ELLIPSE_ZL

#define GVF_PARAMETRIC_3D_ELLIPSE_ZL 40

Default highest point for the ellipse trajectory

Definition at line 55 of file gvf_parametric_3d_ellipse.c.

Function Documentation

◆ gvf_parametric_3d_ellipse_info()

void gvf_parametric_3d_ellipse_info	(	float *	f1,
		float *	f2,
		float *	f3,
		float *	f1d,
		float *	f2d,
		float *	f3d,
		float *	f1dd,
		float *	f2dd,
		float *	f3dd
	)

Definition at line 72 of file gvf_parametric_3d_ellipse.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.

Variable Documentation

◆ gvf_parametric_3d_ellipse_par

gvf_par_3d_ell_par gvf_parametric_3d_ellipse_par

Initial value:

= {GVF_PARAMETRIC_3D_ELLIPSE_KX,
                                                  GVF_PARAMETRIC_3D_ELLIPSE_KY, GVF_PARAMETRIC_3D_ELLIPSE_KZ, GVF_PARAMETRIC_3D_ELLIPSE_R, GVF_PARAMETRIC_3D_ELLIPSE_ZL, GVF_PARAMETRIC_3D_ELLIPSE_ZH, GVF_PARAMETRIC_3D_ELLIPSE_ALPHA
                                                 }

Definition at line 68 of file gvf_parametric_3d_ellipse.c.

Macros

Functions

Variables