FfFbVehicleController Class Reference

Vehicle controller combining feed-forward, PID feedback, and buoyancy compensation. More...

#include <FfFbVehicleController.h>

Inheritance diagram for FfFbVehicleController:

Public Member Functions
	FfFbVehicleController (std::shared_ptr< SystemDynamicsBase > system_properties, std::shared_ptr< ControllerConfig > controller_config)
	Constructs the combined controller with shared dynamics and config. More...
Vector6d	spin_controller_once (const State &goal, const State &current, const bool saturated_on_yaw_xy_axis, const bool saturated_on_depth_roll_pitch_axis, double dt) override
	Computes the total 6DOF body force as a weighted sum of all sub-controllers. More...
Vector6d	get_body_pose_error () const override
	Returns the most recently computed body-frame pose error from the feedback controller. More...
void	on_trajectory_starting () override
	Saves the feedback integral and buoyancy bias before trajectory execution begins. More...
void	on_trajectory_finished () override
	Restores the saved integral and buoyancy bias after a trajectory finishes naturally. More...
void	on_stationkeep_entered () override
	Restores the saved integral and buoyancy bias when stationkeep is entered. More...
void	on_trajectory_progress (double progress) override
	Ramps the feedback integral from its current value toward the saved snapshot. More...
Public Member Functions inherited from VehicleControllerInterface
	VehicleControllerInterface (std::shared_ptr< SystemDynamicsBase > system_dynamics, std::shared_ptr< ControllerConfig > controller_config)
	Constructs a vehicle controller with shared dynamics and config. More...
virtual	~VehicleControllerInterface ()=default

Additional Inherited Members
Public Attributes inherited from VehicleControllerInterface
std::shared_ptr< SystemDynamicsBase >	system_dynamics_
	Vehicle dynamics model used by this controller. More...
std::shared_ptr< ControllerConfig >	controller_config_
	Tuning parameters used by this controller. More...

Detailed Description

Vehicle controller combining feed-forward, PID feedback, and buoyancy compensation.

The total force is: ff_gain * FF + fb_gain * FB + buoyancy_gain * B, scaled per-axis by axis_gain. The feedback controller's integral term and the buoyancy controller's adaptive bias are snapshotted at trajectory start and restored on finish or stationkeep entry to prevent corruption across trajectory segments.

Constructor & Destructor Documentation

FfFbVehicleController()

FfFbVehicleController::FfFbVehicleController	(	std::shared_ptr< SystemDynamicsBase >	system_properties,
		std::shared_ptr< ControllerConfig >	controller_config
	)

Constructs the combined controller with shared dynamics and config.

Parameters

system_properties	[in] Shared vehicle dynamics model
controller_config	[in] Shared controller tuning parameters

Member Function Documentation

get_body_pose_error()

Vector6d FfFbVehicleController::get_body_pose_error ( ) const

overridevirtual

Returns the most recently computed body-frame pose error from the feedback controller.

Returns

6-element pose error vector

Implements VehicleControllerInterface.

on_stationkeep_entered()

void FfFbVehicleController::on_stationkeep_entered ( )

overridevirtual

Restores the saved integral and buoyancy bias when stationkeep is entered.

Implements VehicleControllerInterface.

on_trajectory_finished()

void FfFbVehicleController::on_trajectory_finished ( )

overridevirtual

Restores the saved integral and buoyancy bias after a trajectory finishes naturally.

Implements VehicleControllerInterface.

on_trajectory_progress()

void FfFbVehicleController::on_trajectory_progress ( double  progress )

overridevirtual

Ramps the feedback integral from its current value toward the saved snapshot.

Parameters

progress

[in] Fractional trajectory completion in [0, 1]

Implements VehicleControllerInterface.

on_trajectory_starting()

void FfFbVehicleController::on_trajectory_starting ( )

overridevirtual

Saves the feedback integral and buoyancy bias before trajectory execution begins.

Implements VehicleControllerInterface.

spin_controller_once()

Vector6d FfFbVehicleController::spin_controller_once ( const State &  goal, const State &  current, const bool  saturated_on_yaw_xy_axis, const bool  saturated_on_depth_roll_pitch_axis, double  dt  )

overridevirtual

Computes the total 6DOF body force as a weighted sum of all sub-controllers.

Parameters

goal	[in] Desired vehicle state
current	[in] Current vehicle state
saturated_on_yaw_xy_axis	[in] True when X, Y, or Yaw axes are saturated
saturated_on_depth_roll_pitch_axis	[in] True when Z, Roll, or Pitch axes are saturated
dt	[in] Time step in seconds

Returns

6-element body force/torque vector [Fx, Fy, Fz, Tx, Ty, Tz] in N and Nm

Implements VehicleControllerInterface.

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The documentation for this class was generated from the following files:

• include/controller/FfFbVehicleController.h
• src/controller/FfFbVehicleController.cpp