public abstract class FollowRefController extends java.lang.Object implements IController
Modifier and Type | Field and Description |
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protected VehicleType |
controlledVehicle |
protected LocationType |
destination |
Constructor and Description |
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FollowRefController() |
Modifier and Type | Method and Description |
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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.
|
protected VehicleType controlledVehicle
protected LocationType destination
public abstract LocationType getDestination(LocationType curLoc, double curDepth, double curAlt)
public pt.lsts.imc.Reference guide(VehicleType vehicle, pt.lsts.imc.EstimatedState estate, pt.lsts.imc.FollowRefState frefState)
IController
guide
in interface IController
vehicle
- The vehicle being controlled (plant)estate
- The last known vehicle statefrefState
- The last known maneuver execution stateReference
message with desired control referencepublic java.lang.String getControllerName()
getControllerName
in interface IController
public boolean supportsVehicle(VehicleType vehicle, pt.lsts.imc.EstimatedState state)
IController
supportsVehicle
in interface IController
vehicle
- A vehicle that can be controlledstate
- The current state of the vehicletrue
if this vehicle can be controlled or false
otherwisepublic void startControlling(VehicleType vehicle, pt.lsts.imc.EstimatedState state)
IController
startControlling
in interface IController
vehicle
- The vehicle that will be associated with this controllerstate
- The last known state of the vehicle that will start being controlledpublic void vehicleTimedOut(VehicleType vehicle)
IController
IController.stopControlling(VehicleType)
will be called nextvehicleTimedOut
in interface IController
vehicle
- The vehicle whose connection droppedpublic void stopControlling(VehicleType vehicle)
IController
stopControlling
in interface IController
vehicle
- The vehicle that will stop being controlledCopyright © 2004-2014 FEUP-LSTS and Neptus developers. All Rights Reserved.