This is a helper class for Depthcontrol, HeadingControl, and SpeedControl which projects the state of a variable forward into the future. More...

#include <Trajectory.h>

Public Member Functions
	Trajectory (bool periodic=true)

virtual	~Trajectory ()

float	project (float x0, float dt, float xf, float xdotmax, float xdot2, bool debug=false)
	project: executes the trajectory generator for one time step inputs: xf is the final, or goal in radians xdotmax is the max desired rate (foo/sec) xdot2 is the acceleration rate (foo/sec2) outputs: the trajectory structure will have updated x and xdot elements More...

float	getXDot () const

void	setXDot (const float xDot)

float	getX () const

void	setX (float x0)

Protected Attributes
bool	initialized_

float	x_

float	xDot_

bool	periodic_

Detailed Description

This is a helper class for Depthcontrol, HeadingControl, and SpeedControl which projects the state of a variable forward into the future.

Constructor & Destructor Documentation

Trajectory::Trajectory ( bool periodic = true )

Trajectory::~Trajectory ( )

virtual

Member Function Documentation

float Trajectory::getX ( ) const

inline

References x_.

Referenced by VerticalControl::overrideVertical().

float Trajectory::getXDot ( ) const

inline

References xDot_.

Referenced by VerticalControl::controlDepth(), VerticalControl::controlDepthRate(), and HorizontalControl::headingControl().

float Trajectory::project	(	float	x0,
		float	dt,
		float	xf,
		float	xdotmax,
		float	xdot2,
		bool	debug = `false`
	)

project: executes the trajectory generator for one time step inputs: xf is the final, or goal in radians xdotmax is the max desired rate (foo/sec) xdot2 is the acceleration rate (foo/sec2) outputs: the trajectory structure will have updated x and xdot elements

References dt, initialized_, AuvMath::Limit(), AuvMath::ModPi(), periodic_, x_, and xDot_.

Referenced by VerticalControl::controlDepth(), HorizontalControl::headingControl(), PitchServo::run(), and DepthServo::run().

void Trajectory::setX ( float x0 )

inline

References x_.

Referenced by VerticalControl::controlDepth().

void Trajectory::setXDot ( const float xDot )

inline

References xDot_.

Referenced by VerticalControl::controlDepth(), and VerticalControl::controlVertical().