gvf_parametric_3d_ellipse.c File Reference

#include "subsystems/navigation/common_nav.h"
#include "modules/guidance/gvf_parametric/gvf_parametric.h"
#include "gvf_parametric_3d_ellipse.h"

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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.

Referenced by gvf_parametric_3D_ellipse_XYZ().

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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.

Referenced by gvf_parametric_3D_ellipse_XYZ().