Internal representation of all ROS-declared controller and dynamics parameters. More...

#include <ControlsROS2Wrapper.h>

Public Attributes
double	ff_gain = 0.0

double	fb_gain = 1.0

double	buoyancy_gain = 0.0

bool	surface_gain_scheduling = false

double	surface_threshold = 0.1

double	axis_gain_x = 1.0

double	axis_gain_y = 1.0

double	axis_gain_z = 0.0

double	axis_gain_roll = 0.0

double	axis_gain_pitch = 0.0

double	axis_gain_yaw = 1.0

double	kp_x = 1491.433

double	ki_x = 35.628

double	kd_x = 21.098

double	kp_y = 600.345

double	ki_y = 9.834

double	kd_y = 330.864

double	kp_z = 969.781

double	ki_z = 474.207

double	kd_z = 180.169

double	kp_roll = 79.701

double	ki_roll = 91.516

double	kd_roll = 10.975

double	kp_pitch = 117.765

double	ki_pitch = 135.223

double	kd_pitch = 16.209

double	kp_yaw = 150.113

double	ki_yaw = 10.038

double	kd_yaw = 54.212

double	kp_x_surface = 226.595

double	ki_x_surface = 4.124

double	kd_x_surface = 1643.310

double	kp_y_surface = 334.345

double	ki_y_surface = 9.834

double	kd_y_surface = 1589.864

double	kp_z_surface = 969.781

double	ki_z_surface = 474.207

double	kd_z_surface = 180.169

double	kp_roll_surface = 79.701

double	ki_roll_surface = 91.516

double	kd_roll_surface = 10.975

double	kp_pitch_surface = 117.765

double	ki_pitch_surface = 135.223

double	kd_pitch_surface = 16.209

double	kp_yaw_surface = 29.113

double	ki_yaw_surface = 1.038

double	kd_yaw_surface = 54.212

double	slow_down_gain = 0.0

double	max_xy_vel = 10.0

double	max_xy_acc = 5.0

double	max_xy_jerk = 0.8

double	max_z_vel = 0.0

double	max_z_acc = 0.0

double	max_z_jerk = 0.0

double	max_yaw_vel = 3.0

double	max_yaw_acc = 0.4

double	max_yaw_jerk = 0.3

bool	buoyancy_adaptive = false

double	buoyancy_adaptive_max_scale = 5.0

double	buoyancy_adaptive_clamp_pct = 0.15

double	buoyancy_adaptive_pos_thresh = 0.15

double	buoyancy_adaptive_vel_thresh = 0.05

double	mass = 36.10

double	buoyancy_factor = 1.0

double	i_xx = 0.7699579

double	i_yy = 0.7699579

double	i_zz = 1.38624

double	i_xy = 0.0

double	i_xz = 0.0

double	i_yz = 0.0

double	ma_x = 12.19

double	ma_y = 17.44

double	ma_z = 26.47

double	ma_roll = 0.15

double	ma_pitch = 0.26

double	ma_yaw = 0.19

double	dl_x = 3.8

double	dl_y = 4.4

double	dl_z = 34.8

double	dl_roll = 0.131

double	dl_pitch = 0.201

double	dl_yaw = 0.077

double	dnl_x = 38.7

double	dnl_y = 54.6

double	dnl_z = 78.9

double	dnl_roll = 0.342

double	dnl_pitch = 0.465

double	dnl_yaw = 0.451

double	rbb_x = 0.0

double	rbb_y = 0.0

double	rbb_z = -0.05593619792

double	rgb_x = 0.0

double	rgb_y = 0.0

double	rgb_z = 0.0

double	cg_offset_x = 0.0

double	cg_offset_y = 0.0

double	cg_offset_z = 0.0

Detailed Description

Internal representation of all ROS-declared controller and dynamics parameters.

Default values match the physical AUV4 vehicle. Populated from the ROS parameter server at startup and kept in sync via the set-parameter callback. Pushed to the Vehicle subsystems by apply_config_to_vehicle().

Member Data Documentation

◆ axis_gain_pitch

double ControlsROS2Wrapper::Params::axis_gain_pitch = 0.0

◆ axis_gain_roll

double ControlsROS2Wrapper::Params::axis_gain_roll = 0.0

◆ axis_gain_x

double ControlsROS2Wrapper::Params::axis_gain_x = 1.0

◆ axis_gain_y

double ControlsROS2Wrapper::Params::axis_gain_y = 1.0

◆ axis_gain_yaw

double ControlsROS2Wrapper::Params::axis_gain_yaw = 1.0

◆ axis_gain_z

double ControlsROS2Wrapper::Params::axis_gain_z = 0.0

◆ buoyancy_adaptive

bool ControlsROS2Wrapper::Params::buoyancy_adaptive = false

◆ buoyancy_adaptive_clamp_pct

double ControlsROS2Wrapper::Params::buoyancy_adaptive_clamp_pct = 0.15

◆ buoyancy_adaptive_max_scale

double ControlsROS2Wrapper::Params::buoyancy_adaptive_max_scale = 5.0

◆ buoyancy_adaptive_pos_thresh

double ControlsROS2Wrapper::Params::buoyancy_adaptive_pos_thresh = 0.15

◆ buoyancy_adaptive_vel_thresh

double ControlsROS2Wrapper::Params::buoyancy_adaptive_vel_thresh = 0.05

◆ buoyancy_factor

double ControlsROS2Wrapper::Params::buoyancy_factor = 1.0

◆ buoyancy_gain

double ControlsROS2Wrapper::Params::buoyancy_gain = 0.0

◆ cg_offset_x

double ControlsROS2Wrapper::Params::cg_offset_x = 0.0

◆ cg_offset_y

double ControlsROS2Wrapper::Params::cg_offset_y = 0.0

◆ cg_offset_z

double ControlsROS2Wrapper::Params::cg_offset_z = 0.0

◆ dl_pitch

double ControlsROS2Wrapper::Params::dl_pitch = 0.201

◆ dl_roll

double ControlsROS2Wrapper::Params::dl_roll = 0.131

◆ dl_x

double ControlsROS2Wrapper::Params::dl_x = 3.8

◆ dl_y

double ControlsROS2Wrapper::Params::dl_y = 4.4

◆ dl_yaw

double ControlsROS2Wrapper::Params::dl_yaw = 0.077

◆ dl_z

double ControlsROS2Wrapper::Params::dl_z = 34.8

◆ dnl_pitch

double ControlsROS2Wrapper::Params::dnl_pitch = 0.465

◆ dnl_roll

double ControlsROS2Wrapper::Params::dnl_roll = 0.342

◆ dnl_x

double ControlsROS2Wrapper::Params::dnl_x = 38.7

◆ dnl_y

double ControlsROS2Wrapper::Params::dnl_y = 54.6

◆ dnl_yaw

double ControlsROS2Wrapper::Params::dnl_yaw = 0.451

◆ dnl_z

double ControlsROS2Wrapper::Params::dnl_z = 78.9

◆ fb_gain

double ControlsROS2Wrapper::Params::fb_gain = 1.0

◆ ff_gain

double ControlsROS2Wrapper::Params::ff_gain = 0.0

◆ i_xx

double ControlsROS2Wrapper::Params::i_xx = 0.7699579

◆ i_xy

double ControlsROS2Wrapper::Params::i_xy = 0.0

◆ i_xz

double ControlsROS2Wrapper::Params::i_xz = 0.0

◆ i_yy

double ControlsROS2Wrapper::Params::i_yy = 0.7699579

◆ i_yz

double ControlsROS2Wrapper::Params::i_yz = 0.0

◆ i_zz

double ControlsROS2Wrapper::Params::i_zz = 1.38624

◆ kd_pitch

double ControlsROS2Wrapper::Params::kd_pitch = 16.209

◆ kd_pitch_surface

double ControlsROS2Wrapper::Params::kd_pitch_surface = 16.209

◆ kd_roll

double ControlsROS2Wrapper::Params::kd_roll = 10.975

◆ kd_roll_surface

double ControlsROS2Wrapper::Params::kd_roll_surface = 10.975

◆ kd_x

double ControlsROS2Wrapper::Params::kd_x = 21.098

◆ kd_x_surface

double ControlsROS2Wrapper::Params::kd_x_surface = 1643.310

◆ kd_y

double ControlsROS2Wrapper::Params::kd_y = 330.864

◆ kd_y_surface

double ControlsROS2Wrapper::Params::kd_y_surface = 1589.864

◆ kd_yaw

double ControlsROS2Wrapper::Params::kd_yaw = 54.212

◆ kd_yaw_surface

double ControlsROS2Wrapper::Params::kd_yaw_surface = 54.212

◆ kd_z

double ControlsROS2Wrapper::Params::kd_z = 180.169

◆ kd_z_surface

double ControlsROS2Wrapper::Params::kd_z_surface = 180.169

◆ ki_pitch

double ControlsROS2Wrapper::Params::ki_pitch = 135.223

◆ ki_pitch_surface

double ControlsROS2Wrapper::Params::ki_pitch_surface = 135.223

◆ ki_roll

double ControlsROS2Wrapper::Params::ki_roll = 91.516

◆ ki_roll_surface

double ControlsROS2Wrapper::Params::ki_roll_surface = 91.516

◆ ki_x

double ControlsROS2Wrapper::Params::ki_x = 35.628

◆ ki_x_surface

double ControlsROS2Wrapper::Params::ki_x_surface = 4.124

◆ ki_y

double ControlsROS2Wrapper::Params::ki_y = 9.834

◆ ki_y_surface

double ControlsROS2Wrapper::Params::ki_y_surface = 9.834

◆ ki_yaw

double ControlsROS2Wrapper::Params::ki_yaw = 10.038

◆ ki_yaw_surface

double ControlsROS2Wrapper::Params::ki_yaw_surface = 1.038

◆ ki_z

double ControlsROS2Wrapper::Params::ki_z = 474.207

◆ ki_z_surface

double ControlsROS2Wrapper::Params::ki_z_surface = 474.207

◆ kp_pitch

double ControlsROS2Wrapper::Params::kp_pitch = 117.765

◆ kp_pitch_surface

double ControlsROS2Wrapper::Params::kp_pitch_surface = 117.765

◆ kp_roll

double ControlsROS2Wrapper::Params::kp_roll = 79.701

◆ kp_roll_surface

double ControlsROS2Wrapper::Params::kp_roll_surface = 79.701

◆ kp_x

double ControlsROS2Wrapper::Params::kp_x = 1491.433

◆ kp_x_surface

double ControlsROS2Wrapper::Params::kp_x_surface = 226.595

◆ kp_y

double ControlsROS2Wrapper::Params::kp_y = 600.345

◆ kp_y_surface

double ControlsROS2Wrapper::Params::kp_y_surface = 334.345

◆ kp_yaw

double ControlsROS2Wrapper::Params::kp_yaw = 150.113

◆ kp_yaw_surface

double ControlsROS2Wrapper::Params::kp_yaw_surface = 29.113

◆ kp_z

double ControlsROS2Wrapper::Params::kp_z = 969.781

◆ kp_z_surface

double ControlsROS2Wrapper::Params::kp_z_surface = 969.781

◆ ma_pitch

double ControlsROS2Wrapper::Params::ma_pitch = 0.26

◆ ma_roll

double ControlsROS2Wrapper::Params::ma_roll = 0.15

◆ ma_x

double ControlsROS2Wrapper::Params::ma_x = 12.19

◆ ma_y

double ControlsROS2Wrapper::Params::ma_y = 17.44

◆ ma_yaw

double ControlsROS2Wrapper::Params::ma_yaw = 0.19

◆ ma_z

double ControlsROS2Wrapper::Params::ma_z = 26.47

◆ mass

double ControlsROS2Wrapper::Params::mass = 36.10

◆ max_xy_acc

double ControlsROS2Wrapper::Params::max_xy_acc = 5.0

◆ max_xy_jerk

double ControlsROS2Wrapper::Params::max_xy_jerk = 0.8

◆ max_xy_vel

double ControlsROS2Wrapper::Params::max_xy_vel = 10.0

◆ max_yaw_acc

double ControlsROS2Wrapper::Params::max_yaw_acc = 0.4

◆ max_yaw_jerk

double ControlsROS2Wrapper::Params::max_yaw_jerk = 0.3

◆ max_yaw_vel

double ControlsROS2Wrapper::Params::max_yaw_vel = 3.0

◆ max_z_acc

double ControlsROS2Wrapper::Params::max_z_acc = 0.0

◆ max_z_jerk

double ControlsROS2Wrapper::Params::max_z_jerk = 0.0

◆ max_z_vel

double ControlsROS2Wrapper::Params::max_z_vel = 0.0

◆ rbb_x

double ControlsROS2Wrapper::Params::rbb_x = 0.0

◆ rbb_y

double ControlsROS2Wrapper::Params::rbb_y = 0.0

◆ rbb_z

double ControlsROS2Wrapper::Params::rbb_z = -0.05593619792

◆ rgb_x

double ControlsROS2Wrapper::Params::rgb_x = 0.0

◆ rgb_y

double ControlsROS2Wrapper::Params::rgb_y = 0.0

◆ rgb_z

double ControlsROS2Wrapper::Params::rgb_z = 0.0

◆ slow_down_gain

double ControlsROS2Wrapper::Params::slow_down_gain = 0.0

◆ surface_gain_scheduling

bool ControlsROS2Wrapper::Params::surface_gain_scheduling = false

◆ surface_threshold

double ControlsROS2Wrapper::Params::surface_threshold = 0.1

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

include/nodes/ControlsROS2Wrapper.h

Public Attributes