DUNE: Uniform Navigational Environment  2019.02.0
DUNE::Control::PathController::TrackingState Struct Reference

Detailed Description

All data regarding the vehicle's state while tracking the path.

Classes

struct  Coord
 
struct  LoiterData
 
struct  TrackCoord
 

Public Attributes

double now
 
double delta
 
double start_time
 
double end_time
 
double eta
 
struct
DUNE::Control::PathController::TrackingState::Coord 
start
 
struct
DUNE::Control::PathController::TrackingState::Coord 
end
 
double track_bearing
 
double track_length
 
double range
 
double los_angle
 
double course
 
double speed
 
double course_error
 
struct
DUNE::Control::PathController::TrackingState::TrackCoord 
track_pos
 
struct
DUNE::Control::PathController::TrackingState::TrackCoord 
track_vel
 
struct
DUNE::Control::PathController::TrackingState::LoiterData 
loiter
 
bool z_control: 1
 
bool loitering: 1
 
bool nearby: 1
 
bool cc: 1
 

Member Data Documentation

double DUNE::Control::PathController::TrackingState::course
double DUNE::Control::PathController::TrackingState::course_error

course error in relation to track bearing.

Referenced by DUNE::Control::PathController::consume(), and Control::Path::LOSnSMC::Task::step().

double DUNE::Control::PathController::TrackingState::delta

time since last control step invocation.

Referenced by DUNE::Control::PathController::consume().

double DUNE::Control::PathController::TrackingState::end_time
double DUNE::Control::PathController::TrackingState::eta

eta estimate.

bool DUNE::Control::PathController::TrackingState::loitering
double DUNE::Control::PathController::TrackingState::los_angle
bool DUNE::Control::PathController::TrackingState::nearby
double DUNE::Control::PathController::TrackingState::now

current time (wall clock).

Referenced by DUNE::Control::PathController::consume().

double DUNE::Control::PathController::TrackingState::range

range from current position to end.

Referenced by Control::Path::VectorField::Task::loiter(), and Control::Path::ILOS::Task::loiter().

double DUNE::Control::PathController::TrackingState::speed

current ground speed if course control enabled, body-fixed frame u speed otherwise.

Referenced by DUNE::Control::PathController::getSpeed(), Control::Path::VectorField::Task::step(), and Control::Path::LOSnSMC::Task::step().

double DUNE::Control::PathController::TrackingState::start_time

start time (wall clock).

Referenced by DUNE::Control::PathController::consume().

struct DUNE::Control::PathController::TrackingState::TrackCoord DUNE::Control::PathController::TrackingState::track_vel
bool DUNE::Control::PathController::TrackingState::z_control
Collaboration diagram for DUNE::Control::PathController::TrackingState:
Collaboration graph