VehicleControllerInterface Class Reference

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

#include <VehicleControllerInterface.h>

Inheritance diagram for VehicleControllerInterface:

Public Member Functions
	VehicleControllerInterface (std::shared_ptr< SystemDynamicsBase > systemDynamics, std::shared_ptr< ControllerConfig > controller_config)
	Constructs a vehicle controller with shared dynamics and config. More...
virtual	~VehicleControllerInterface ()=default
virtual Vector6d	spinControllerOnce (const State &goal, const State &current, const bool saturatedOnYawXYAxis, const bool saturatedOnDepthRollPitchAxis, double dt)=0
	Computes the instantaneous 6DOF body force to drive the vehicle toward the goal state. More...
virtual Vector6d	getBodyPoseError () const =0
	Returns the most recently computed 6DOF body-frame pose error. More...
virtual void	onTrajectoryStarting ()=0
	Called by the Vehicle state machine just before a trajectory begins executing. More...
virtual void	onTrajectoryFinished ()=0
	Called by the Vehicle state machine when a trajectory completes naturally. More...
virtual void	onStationkeepEntered ()=0
	Called by the Vehicle state machine when a stationkeep request is activated. More...
virtual void	onTrajectoryProgress (double progress)=0
	Called every control tick while a trajectory is executing. More...

Public Attributes
std::shared_ptr< SystemDynamicsBase >	systemDynamics
	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 >  systemDynamics, std::shared_ptr< ControllerConfig >  controller_config  )

inline

Constructs a vehicle controller with shared dynamics and config.

Parameters

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

~VehicleControllerInterface()

virtual VehicleControllerInterface::~VehicleControllerInterface ( )

virtualdefault

Member Function Documentation

getBodyPoseError()

virtual Vector6d VehicleControllerInterface::getBodyPoseError ( ) 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.

onStationkeepEntered()

virtual void VehicleControllerInterface::onStationkeepEntered ( )

pure virtual

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

Implemented in FfFbVehicleController.

onTrajectoryFinished()

virtual void VehicleControllerInterface::onTrajectoryFinished ( )

pure virtual

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

Implemented in FfFbVehicleController.

onTrajectoryProgress()

virtual void VehicleControllerInterface::onTrajectoryProgress ( 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.

onTrajectoryStarting()

virtual void VehicleControllerInterface::onTrajectoryStarting ( )

pure virtual

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

Implemented in FfFbVehicleController.

spinControllerOnce()

virtual Vector6d VehicleControllerInterface::spinControllerOnce ( const State &  goal, const State &  current, const bool  saturatedOnYawXYAxis, const bool  saturatedOnDepthRollPitchAxis, 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
saturatedOnYawXYAxis	[in] True when the X, Y, or Yaw thruster axes are saturated
saturatedOnDepthRollPitchAxis	[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.

systemDynamics

std::shared_ptr<SystemDynamicsBase> VehicleControllerInterface::systemDynamics

Vehicle dynamics model used by this controller.

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

• include/controller/VehicleControllerInterface.h