auv_control Namespace Reference

Classes
class	AccelerationController
class	AlignedToBody
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Controller that takes either velocities or efforts expressed in the aligned frame as input and outputs the same commands, but expressed in the body frame. More...
class	Base
class	BasePIDController
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Base implementation of all the tasks that use one PID controller per axis to generate commands. More...
class	CommandInjection
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Task that works as switch betwen two commands. More...
class	ConstantCommand
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Generates a single constant command in the configured domain. More...
class	ConstantCommandGroundFollower
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. In this class the desired command, where depth is given in distance TO the floor in positive way! More...
struct	ExpectedInputs
struct	LinearAngular6DCommandStatus
struct	LinearAngular6DPID
struct	LinearAngular6DPIDState
class	MotionCommand2DConverter
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...
class	OptimalHeadingController
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Task that allows a vehicle to drive long distances in an optimal orientation. So the vehicle can drive faster to his target position. This controler works with Commands in AlignedPosition Frame. More...
class	PIDController
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Controller that takes either positions or velocities, expressed in either the world or aligned frames, and outputs "whatever" in the same frame. More...
struct	PIDState
class	ThrusterForce2BodyEffort
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Task that converts thruster's feedback from rpm to force. More...
class	ThrustersBase
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Task that convert forces[N] to thruster's control signal. Receive as input AccelerationController.cmd_out and gives as output the control signal to the thruster's driver Configure the kind of control signal and thruster's properties. More...
class	ThrustersFeedback
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Task that converts thruster's feedback from rpm to force. More...
class	ThrustersInput
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Task that convert forces[N] to thruster's control signal. Receive as input AccelerationController.cmd_out and gives as output the control signal for each thruster Configure the kind of control signal and thruster's properties. More...
class	WaypointNavigator
	The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...
class	WorldToAligned