Abstract interface for the vehicle-level controller. More...

#include <VehicleControllerInterface.h>

Inheritance diagram for VehicleControllerInterface:

Public Member Functions
	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

virtual 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)=0
	Computes the instantaneous 6DOF body force to drive the vehicle toward the goal state. More...

virtual Vector6d	get_body_pose_error () const =0
	Returns the most recently computed 6DOF body-frame pose error. More...

virtual void	on_trajectory_starting ()=0
	Called by the Vehicle state machine just before a trajectory begins executing. More...

virtual void	on_trajectory_finished ()=0
	Called by the Vehicle state machine when a trajectory completes naturally. More...

virtual void	on_stationkeep_entered ()=0
	Called by the Vehicle state machine when a stationkeep request is activated. More...

virtual void	on_trajectory_progress (double progress)=0
	Called every control tick while a trajectory is executing. More...

Public Attributes
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

Abstract interface for the vehicle-level controller.

A vehicle controller combines one or more BaseControllerInterface instances and participates in the trajectory lifecycle through callbacks invoked by the Vehicle state machine.

Constructor & Destructor Documentation

◆ VehicleControllerInterface()

VehicleControllerInterface::VehicleControllerInterface	(	std::shared_ptr< SystemDynamicsBase >	system_dynamics,
		std::shared_ptr< ControllerConfig >	controller_config
	)

inline

Constructs a vehicle controller with shared dynamics and config.

Parameters

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

◆ ~VehicleControllerInterface()

virtual VehicleControllerInterface::~VehicleControllerInterface ( )

virtualdefault

Member Function Documentation

◆ get_body_pose_error()

virtual Vector6d VehicleControllerInterface::get_body_pose_error ( ) const

pure virtual

Returns the most recently computed 6DOF body-frame pose error.

Returns: 6-element pose error [Δx, Δy, Δz, Δroll, Δpitch, Δyaw]

Implemented in FfFbVehicleController.

◆ on_stationkeep_entered()

virtual void VehicleControllerInterface::on_stationkeep_entered ( )

pure virtual

Called by the Vehicle state machine when a stationkeep request is activated.

Implemented in FfFbVehicleController.

◆ on_trajectory_finished()

virtual void VehicleControllerInterface::on_trajectory_finished ( )

pure virtual

Called by the Vehicle state machine when a trajectory completes naturally.

Implemented in FfFbVehicleController.

◆ on_trajectory_progress()

virtual void VehicleControllerInterface::on_trajectory_progress ( double progress )

pure virtual

Called every control tick while a trajectory is executing.

Parameters

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

Implemented in FfFbVehicleController.

◆ on_trajectory_starting()

virtual void VehicleControllerInterface::on_trajectory_starting ( )

pure virtual

Called by the Vehicle state machine just before a trajectory begins executing.

Implemented in FfFbVehicleController.

◆ spin_controller_once()

virtual Vector6d VehicleControllerInterface::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
	)

pure virtual

Computes the instantaneous 6DOF body force to drive the vehicle toward the goal state.

Parameters

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

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

Implemented in FfFbVehicleController.

Member Data Documentation

◆ controller_config_

std::shared_ptr<ControllerConfig> VehicleControllerInterface::controller_config_

Tuning parameters used by this controller.

◆ system_dynamics_

std::shared_ptr<SystemDynamicsBase> VehicleControllerInterface::system_dynamics_

Vehicle dynamics model used by this controller.

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

include/controller/VehicleControllerInterface.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VehicleControllerInterface()

◆ ~VehicleControllerInterface()

Member Function Documentation

◆ get_body_pose_error()

◆ on_stationkeep_entered()

◆ on_trajectory_finished()

◆ on_trajectory_progress()

◆ on_trajectory_starting()

◆ spin_controller_once()

Member Data Documentation

◆ controller_config_

◆ system_dynamics_