range_forcefield.h File Reference

#include <std.h>
#include "math/pprz_algebra_float.h"

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Data Structures
struct	range_forcefield_param_t

Functions
void	range_forcefield_init (void)
void	range_forcefield_periodic (void)
void	range_forcefield_update (float range, struct FloatEulers *body_to_sensor_eulers)

Variables
struct range_forcefield_param_t	range_forcefield_param

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Data Structure Documentation

struct range_forcefield_param_t

Definition at line 32 of file range_forcefield.h.

Data Fields
float	inner_limit
float	max_vel
float	min_vel
float	outer_limit

Function Documentation

void range_forcefield_init

(

void

)

Definition at line 76 of file range_forcefield.c.

References ff_nearest_obs_neg, ff_nearest_obs_pos, range_forcefield_param_t::inner_limit, range_forcefield_param_t::max_vel, range_forcefield_param_t::min_vel, obstacle_cb(), obstacle_ev, range_forcefield_param_t::outer_limit, RANGE_FORCEFIELD_INNER_LIMIT, RANGE_FORCEFIELD_MAX_VEL, RANGE_FORCEFIELD_MIN_VEL, RANGE_FORCEFIELD_OUTER_LIMIT, range_forcefield_param, RANGE_FORCEFIELD_RECIEVE_ID, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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void range_forcefield_periodic

(

void

)

Definition at line 97 of file range_forcefield.c.

References compute_ff_vel(), ff_nearest_obs_neg, ff_nearest_obs_pos, RANGE_FORCEFIELD_ID, RANGE_FORCEFIELD_OUTER_LIMIT, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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void range_forcefield_update	(	float	range,
		struct FloatEulers *	body_to_sensor_eulers
	)

Definition at line 121 of file range_forcefield.c.

References ff_nearest_obs_neg, ff_nearest_obs_pos, float_rmat_of_eulers, float_rmat_transp_vmult(), store_min_dist(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by obstacle_cb().

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Variable Documentation

struct range_forcefield_param_t range_forcefield_param

Definition at line 56 of file range_forcefield.c.

Referenced by compute_ff_vel(), and range_forcefield_init().