skid4_control::SoftTurnController Class Reference

#include <SoftTurnController.hpp>

Inheritance diagram for skid4_control::SoftTurnController:

Public Member Functions
	SoftTurnController (std::string const &name="skid4_control::SoftTurnController")
	~SoftTurnController ()
bool	configureHook ()
	The following lines are template definitions for the various state machine. More...
void	updateHook ()

Protected Types
enum	State { FORWARD, BACKWARD }

Protected Member Functions
double	leftController (double wantedSpeed, const base::samples::Joints &status)
double	rightController (double wantedSpeed, const base::samples::Joints &status)
double	getSpeed (const base::samples::Joints &status, const std::vector< std::string > &joints)

Protected Attributes
double	turnSpeed
double	translationalSpeed
State	state
double	turnVariance
	maximum allowed displacement while turning More...
double	Kp
	PID Configuration. More...
double	Ki
double	Kd
double	N
double	B
double	Tt
double	YMin
double	YMax
motor_controller::PID	leftPid
motor_controller::PID	rightPid
base::samples::Joints	lastStatus
base::samples::Joints	startStatus

Friends
class	SoftTurnControllerBase

Member Enumeration Documentation

enum skid4_control::SoftTurnController::State

protected

Enumerator
FORWARD
BACKWARD

Constructor & Destructor Documentation

SoftTurnController::SoftTurnController

(

std::string const &

name = "skid4_control::SoftTurnController"

)

SoftTurnController::~SoftTurnController

(

)

Member Function Documentation

bool SoftTurnController::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

maximum allowed displacement while turning

double SoftTurnController::getSpeed ( const base::samples::Joints &  status, const std::vector< std::string > &  joints  )

protected

double SoftTurnController::leftController ( double  wantedSpeed, const base::samples::Joints &  status  )

protected

double SoftTurnController::rightController ( double  wantedSpeed, const base::samples::Joints &  status  )

protected

void SoftTurnController::updateHook

(

)

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. 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 SoftTurnControllerBase

friend

Member Data Documentation

double skid4_control::SoftTurnController::B

protected

double skid4_control::SoftTurnController::Kd

protected

double skid4_control::SoftTurnController::Ki

protected

double skid4_control::SoftTurnController::Kp

protected

PID Configuration.

base::samples::Joints skid4_control::SoftTurnController::lastStatus

protected

motor_controller::PID skid4_control::SoftTurnController::leftPid

protected

double skid4_control::SoftTurnController::N

protected

motor_controller::PID skid4_control::SoftTurnController::rightPid

protected

base::samples::Joints skid4_control::SoftTurnController::startStatus

protected

State skid4_control::SoftTurnController::state

protected

double skid4_control::SoftTurnController::translationalSpeed

protected

double skid4_control::SoftTurnController::Tt

protected

double skid4_control::SoftTurnController::turnSpeed

protected

double skid4_control::SoftTurnController::turnVariance

protected

maximum allowed displacement while turning

double skid4_control::SoftTurnController::YMax

protected

double skid4_control::SoftTurnController::YMin

protected

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

• /build/rock-master-18.09-control-orogen-skid4-control-0.20170821/tasks/SoftTurnController.hpp
• /build/rock-master-18.09-control-orogen-skid4-control-0.20170821/tasks/SoftTurnController.cpp