pt.lsts.neptus.plugins.controllers

Interface IController

All Known Implementing Classes:

FollowRefController

public interface IController

This interface is implemented by agents that control vehicles

Author:

zp

Method Summary

Modifier and Type	Method and Description
java.lang.String	getControllerName()
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.

Method Detail

guide

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

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

java.lang.String getControllerName()

Returns:

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

supportsVehicle

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

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

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

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

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

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

void vehicleTimedOut(VehicleType vehicle)

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

Parameters:

vehicle - The vehicle whose connection dropped

stopControlling

void stopControlling(VehicleType vehicle)

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

Parameters:

vehicle - The vehicle that will stop being controlled