range_forcefield.c File Reference

#include "modules/range_forcefield/range_forcefield.h"
#include "subsystems/abi.h"

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Macros
#define	RANGE_FORCEFIELD_RECIEVE_ID   ABI_BROADCAST
#define	RANGE_FORCEFIELD_INNER_LIMIT   1.0f
#define	RANGE_FORCEFIELD_OUTER_LIMIT   1.4f
#define	RANGE_FORCEFIELD_MIN_VEL   0.0f
#define	RANGE_FORCEFIELD_MAX_VEL   0.5f

Functions
static float	compute_ff_vel (float range)
static void	store_min_dist (float pos, float *nearest_pos, float range)
static void	obstacle_cb (uint8_t sender_id, float range, float azimuth, float bearing)
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
static struct FloatVect3	ff_nearest_obs_pos
static struct FloatVect3	ff_nearest_obs_neg
static abi_event	obstacle_ev

Macro Definition Documentation

RANGE_FORCEFIELD_INNER_LIMIT

#define RANGE_FORCEFIELD_INNER_LIMIT   1.0f

Definition at line 37 of file range_forcefield.c.

RANGE_FORCEFIELD_MAX_VEL

#define RANGE_FORCEFIELD_MAX_VEL   0.5f

Definition at line 52 of file range_forcefield.c.

RANGE_FORCEFIELD_MIN_VEL

#define RANGE_FORCEFIELD_MIN_VEL   0.0f

Definition at line 47 of file range_forcefield.c.

RANGE_FORCEFIELD_OUTER_LIMIT

#define RANGE_FORCEFIELD_OUTER_LIMIT   1.4f

Definition at line 42 of file range_forcefield.c.

RANGE_FORCEFIELD_RECIEVE_ID

#define RANGE_FORCEFIELD_RECIEVE_ID   ABI_BROADCAST

Definition at line 33 of file range_forcefield.c.

Function Documentation

compute_ff_vel()

static float compute_ff_vel ( float  range )

static

Definition at line 144 of file range_forcefield.c.

References f, range_forcefield_param_t::inner_limit, range_forcefield_param_t::max_vel, range_forcefield_param_t::min_vel, range_forcefield_param_t::outer_limit, and range_forcefield_param.

Referenced by range_forcefield_periodic().

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obstacle_cb()

static void obstacle_cb ( uint8_t  sender_id, float  range, float  azimuth, float  bearing  )

static

Definition at line 64 of file range_forcefield.c.

References FloatEulers::phi, FloatEulers::psi, range_forcefield_update(), and FloatEulers::theta.

Referenced by range_forcefield_init().

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range_forcefield_init()

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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range_forcefield_periodic()

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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range_forcefield_update()

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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store_min_dist()

static void store_min_dist ( float  pos, float *  nearest_pos, float  range  )

static

Definition at line 165 of file range_forcefield.c.

References f.

Referenced by range_forcefield_update().

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Variable Documentation

ff_nearest_obs_neg

struct FloatVect3 ff_nearest_obs_neg

static

Definition at line 58 of file range_forcefield.c.

Referenced by range_forcefield_init(), range_forcefield_periodic(), and range_forcefield_update().

ff_nearest_obs_pos

struct FloatVect3 ff_nearest_obs_pos

static

Definition at line 57 of file range_forcefield.c.

Referenced by range_forcefield_init(), range_forcefield_periodic(), and range_forcefield_update().

obstacle_ev

abi_event obstacle_ev

static

Definition at line 63 of file range_forcefield.c.

Referenced by range_forcefield_init().

range_forcefield_param

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().