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...

#include <BasePIDController.hpp>

Inheritance diagram for auv_control::BasePIDController:

Classes
struct	currentCov

struct	currentState

Public Member Functions
	BasePIDController (std::string const &name="auv_control::BasePIDController")

	BasePIDController (std::string const &name, RTT::ExecutionEngine *engine)

	~BasePIDController ()

bool	configureHook ()
	The following lines are template definitions for the various state machine. More...

bool	startHook ()

void	updateHook ()

void	errorHook ()

void	stopHook ()

void	cleanupHook ()

Protected Member Functions
bool	calcOutput (const LinearAngular6DCommandStatus &merged_command)

void	keepPosition ()

virtual bool	setParallel_pid_settings (::base::LinearAngular6DParallelPIDSettings const &value)

virtual bool	setPid_settings (::base::LinearAngular6DPIDSettings const &value)

std::pair< base::LinearAngular6DCommand, LinearAngular6DPIDState >	calcPIDStateCommand (const base::LinearAngular6DCommand &reference, const currentState &current_state, LinearAngular6DPID &pid)

Protected Attributes
currentState	mCurrentState

currentCov	mCurrentCov

LinearAngular6DPID	mPIDs

Friends
class	BasePIDControllerBase

Detailed Description

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.

The name of a TaskContext is primarily defined via:

     deployment 'deployment_name'
         task('custom_task_name','auv_control::BasePIDController')
     end

It can be dynamically adapted when the deployment is called with a prefix argument.

Constructor & Destructor Documentation

BasePIDController::BasePIDController ( std::string const & name = "auv_control::BasePIDController" )

TaskContext constructor for BasePIDController

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.
initial_state	The initial TaskState of the TaskContext. Default is Stopped state.

BasePIDController::BasePIDController	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

TaskContext constructor for BasePIDController

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

BasePIDController::~BasePIDController ( )

Default deconstructor of BasePIDController

Member Function Documentation

bool BasePIDController::calcOutput ( const LinearAngular6DCommandStatus & merged_command )

protected

std::pair< base::LinearAngular6DCommand, LinearAngular6DPIDState > BasePIDController::calcPIDStateCommand	(	const base::LinearAngular6DCommand &	reference,
		const currentState &	current_state,
		LinearAngular6DPID &	pid
	)

protected

Compute PID control and it status for 6 DOF (linear and angular)

Parameters

reference,the	disered state
current_state,measured	state
pid,the	controller used and be updated

Returns: pair of LinearAngular6D Command and PIDStates

void BasePIDController::cleanupHook ( )

This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.

bool BasePIDController::configureHook ( )

The following lines are template definitions for the various state machine.

This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.

It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):

task_context "TaskName" do
  needs_configuration
  ...
end

void BasePIDController::errorHook ( )

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recover() to go back in the Runtime state.

void BasePIDController::keepPosition ( )

protected

bool BasePIDController::setParallel_pid_settings ( ::base::LinearAngular6DParallelPIDSettings const & value )

protectedvirtual

bool BasePIDController::setPid_settings ( ::base::LinearAngular6DPIDSettings const & value )

protectedvirtual

bool BasePIDController::startHook ( )

This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.

void BasePIDController::stopHook ( )

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

void BasePIDController::updateHook ( )

This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.

The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.

In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.

Friends And Related Function Documentation

friend class BasePIDControllerBase

friend

Member Data Documentation

currentCov auv_control::BasePIDController::mCurrentCov

protected

The current system state's covariance, including the linear and angular part It must be updated by subclasses before calling their base updateHook class

currentState auv_control::BasePIDController::mCurrentState

protected

The current system's state, including the linear and angular part It must be updated by subclasses before calling their base updateHook class

LinearAngular6DPID auv_control::BasePIDController::mPIDs

protected

The PIDs, including the linear and angular part It need to have it states updated

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

/build/rock-master-18.09-control-orogen-auv-control-0.20180621/tasks/BasePIDController.hpp
/build/rock-master-18.09-control-orogen-auv-control-0.20180621/tasks/BasePIDController.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation