pt.lsts.neptus.plugins.controllers

Class FollowRefController

java.lang.Object

pt.lsts.neptus.plugins.controllers.FollowRefController

All Implemented Interfaces:

IController

public abstract class FollowRefController
extends java.lang.Object
implements IController

Author:

zp

Field Summary

Fields

Modifier and Type	Field and Description
protected VehicleType	controlledVehicle
protected LocationType	destination

Constructor Summary

Constructors

Constructor and Description
FollowRefController()

Method Summary

Modifier and Type	Method and Description
java.lang.String	getControllerName()
abstract LocationType	getDestination(LocationType curLoc, double curDepth, double curAlt)
pt.lsts.imc.Reference	guide(VehicleType vehicle, pt.lsts.imc.EstimatedState estate, pt.lsts.imc.FollowRefState frefState) This method is used to implement the control law
void	startControlling(VehicleType vehicle, pt.lsts.imc.EstimatedState state) Method called when the controller is initially activated for a given vehicle
void	stopControlling(VehicleType vehicle) Method called when the controller looses control over the vehicle.
boolean	supportsVehicle(VehicleType vehicle, pt.lsts.imc.EstimatedState state) This method is used to check if a controller supports a given vehicle
void	vehicleTimedOut(VehicleType vehicle) Method called when the control loop is terminated due to a connection time out.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

controlledVehicle

protected VehicleType controlledVehicle

destination

protected LocationType destination

Constructor Detail

FollowRefController

public FollowRefController()

Method Detail

getDestination

public abstract LocationType getDestination(LocationType curLoc,
                                            double curDepth,
                                            double curAlt)

guide

public pt.lsts.imc.Reference guide(VehicleType vehicle,
                                   pt.lsts.imc.EstimatedState estate,
                                   pt.lsts.imc.FollowRefState frefState)

Description copied from interface: IController

This method is used to implement the control law

Specified by:

guide in interface IController

Parameters:

vehicle - The vehicle being controlled (plant)

estate - The last known vehicle state

frefState - The last known maneuver execution state

Returns:

A Reference message with desired control reference

getControllerName

public java.lang.String getControllerName()

Specified by:

getControllerName in interface IController

Returns:

The desired name for this controller (also used for plan names)

supportsVehicle

public boolean supportsVehicle(VehicleType vehicle,
                               pt.lsts.imc.EstimatedState state)

Description copied from interface: IController

This method is used to check if a controller supports a given vehicle

Specified by:

supportsVehicle in interface IController

Parameters:

vehicle - A vehicle that can be controlled

state - The current state of the vehicle

Returns:

true if this vehicle can be controlled or false otherwise

startControlling

public void startControlling(VehicleType vehicle,
                             pt.lsts.imc.EstimatedState state)

Description copied from interface: IController

Method called when the controller is initially activated for a given vehicle

Specified by:

startControlling in interface IController

Parameters:

vehicle - The vehicle that will be associated with this controller

state - The last known state of the vehicle that will start being controlled

vehicleTimedOut

public void vehicleTimedOut(VehicleType vehicle)

Description copied from interface: IController

Method called when the control loop is terminated due to a connection time out. The method IController.stopControlling(VehicleType) will be called next

Specified by:

vehicleTimedOut in interface IController

Parameters:

vehicle - The vehicle whose connection dropped

stopControlling

public void stopControlling(VehicleType vehicle)

Description copied from interface: IController

Method called when the controller looses control over the vehicle. Either because the user commanded it, an error occurred or the connection with the vehicle was lost

Specified by:

stopControlling in interface IController

Parameters:

vehicle - The vehicle that will stop being controlled