DUNE: Uniform Navigational Environment
2020.01.0
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Public Member Functions | |
FormMonitor () | |
Public Attributes | |
double | ax_cmd |
double | ay_cmd |
double | az_cmd |
double | ax_des |
double | ay_des |
double | az_des |
double | virt_err_x |
double | virt_err_y |
double | virt_err_z |
double | surf_fdbk_x |
double | surf_fdbk_y |
double | surf_fdbk_z |
double | surf_unkn_x |
double | surf_unkn_y |
double | surf_unkn_z |
double | ss_x |
double | ss_y |
double | ss_z |
std::vector< RelState * > | rel_state |
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inline |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ax_cmd |
Commanded acceleration computed by the formation controller.
(Constrained by the vehicle operational limits)
Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ax_des |
Desired acceleration computed by the formation controller.
Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ay_cmd |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ay_des |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::az_cmd |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::az_des |
std::vector<RelState*> Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::rel_state |
Inter-vehicle state data.
Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl(), and Maneuver::VehicleFormation::FormCollAvoid::Task::onUpdateParameters().
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ss_x |
Combined deviation from convergence.
(Total sliding surface value)
Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ss_y |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ss_z |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_fdbk_x |
Formation combined sliding surface feedback.
(Component of the vehicle desired acceleration)
Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_fdbk_y |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_fdbk_z |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_unkn_x |
Dynamics uncertainty compensation.
(Component of the vehicle desired acceleration)
Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_unkn_y |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_unkn_z |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::virt_err_x |
Formation combined virtual error.
(Component of the vehicle desired acceleration)
Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), and Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl().
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::virt_err_y |
double Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::virt_err_z |