#include <ManualVelocitySmoothingXY.hpp>

Collaboration diagram for ManualVelocitySmoothingXY:

Public Member Functions
	ManualVelocitySmoothingXY ()=default

	~ManualVelocitySmoothingXY ()=default

void	reset (const Vector2f &accel, const Vector2f &vel, const Vector2f &pos)

void	update (float dt, const Vector2f &velocity_target)

void	setVelSpFeedback (const Vector2f &fb)

void	setMaxJerk (const float max_jerk)

float	getMaxJerk () const

void	setMaxAccel (const float max_accel)

float	getMaxAccel () const

void	setMaxVel (const float max_vel)

float	getMaxVel () const

Vector2f	getCurrentJerk () const

Vector2f	getCurrentAcceleration () const

void	setCurrentVelocity (const Vector2f &vel)

Vector2f	getCurrentVelocity () const

void	setCurrentPosition (const Vector2f &pos)

Vector2f	getCurrentPosition () const

void	setCurrentPositionEstimate (const Vector2f &pos)

Private Member Functions
void	resetPositionLock ()

void	updateTrajectories (float dt)

void	checkPositionLock (const Vector2f &velocity_target)

void	updateTrajDurations (const Vector2f &velocity_target)

Private Attributes
VelocitySmoothing	_trajectory [2]
	Trajectory in x and y directions. More...

bool	_position_lock_active {false}

Vector2f	_position_setpoint_locked

Vector2f	_velocity_setpoint_feedback

Vector2f	_position_estimate

struct {
Vector2f j

Vector2f a

Vector2f v

Vector2f x

}	_state

Detailed Description

Definition at line 47 of file ManualVelocitySmoothingXY.hpp.

Constructor & Destructor Documentation

◆ ManualVelocitySmoothingXY()

ManualVelocitySmoothingXY::ManualVelocitySmoothingXY ( )

default

◆ ~ManualVelocitySmoothingXY()

ManualVelocitySmoothingXY::~ManualVelocitySmoothingXY ( )

default

Member Function Documentation

◆ checkPositionLock()

void ManualVelocitySmoothingXY::checkPositionLock ( const Vector2f & velocity_target )

private

During a position lock -> position unlock transition, we have to make sure that the velocity setpoint is continuous. We know that the output of the position loop (part of the velocity setpoint) will suddenly become null and only the feedforward (generated by this flight task) will remain. This is why the previous input of the velocity controller is used to set current velocity of the trajectory.

Definition at line 91 of file ManualVelocitySmoothingXY.cpp.

References FLT_EPSILON, and matrix::Vector< Type, M >::length().

Referenced by setCurrentPositionEstimate().

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◆ getCurrentAcceleration()

Vector2f ManualVelocitySmoothingXY::getCurrentAcceleration ( ) const

inline

Definition at line 80 of file ManualVelocitySmoothingXY.hpp.

References _state.

◆ getCurrentJerk()

Vector2f ManualVelocitySmoothingXY::getCurrentJerk ( ) const

inline

Definition at line 79 of file ManualVelocitySmoothingXY.hpp.

References _state.

◆ getCurrentPosition()

Vector2f ManualVelocitySmoothingXY::getCurrentPosition ( ) const

inline

Definition at line 97 of file ManualVelocitySmoothingXY.hpp.

References _position_setpoint_locked.

◆ getCurrentVelocity()

Vector2f ManualVelocitySmoothingXY::getCurrentVelocity ( ) const

inline

Definition at line 88 of file ManualVelocitySmoothingXY.hpp.

References _state.

◆ getMaxAccel()

float ManualVelocitySmoothingXY::getMaxAccel ( ) const

inline

Definition at line 70 of file ManualVelocitySmoothingXY.hpp.

References _trajectory, and VelocitySmoothing::getMaxAccel().

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◆ getMaxJerk()

float ManualVelocitySmoothingXY::getMaxJerk ( ) const

inline

Definition at line 63 of file ManualVelocitySmoothingXY.hpp.

References _trajectory, and VelocitySmoothing::getMaxJerk().

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◆ getMaxVel()

float ManualVelocitySmoothingXY::getMaxVel ( ) const

inline

Definition at line 77 of file ManualVelocitySmoothingXY.hpp.

References _trajectory, and VelocitySmoothing::getMaxVel().

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◆ reset()

void ManualVelocitySmoothingXY::reset	(	const Vector2f &	accel,
		const Vector2f &	vel,
		const Vector2f &	pos
	)

Definition at line 41 of file ManualVelocitySmoothingXY.cpp.

◆ resetPositionLock()

void ManualVelocitySmoothingXY::resetPositionLock ( )

private

Definition at line 50 of file ManualVelocitySmoothingXY.cpp.

Referenced by setCurrentPositionEstimate().

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◆ setCurrentPosition()

void ManualVelocitySmoothingXY::setCurrentPosition ( const Vector2f & pos )

inline

Definition at line 90 of file ManualVelocitySmoothingXY.hpp.

References _state, _trajectory, and VelocitySmoothing::setCurrentPosition().

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◆ setCurrentPositionEstimate()

void ManualVelocitySmoothingXY::setCurrentPositionEstimate ( const Vector2f & pos )

inline

Definition at line 99 of file ManualVelocitySmoothingXY.hpp.

References _position_estimate, checkPositionLock(), resetPositionLock(), updateTrajDurations(), and updateTrajectories().

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◆ setCurrentVelocity()

void ManualVelocitySmoothingXY::setCurrentVelocity ( const Vector2f & vel )

inline

Definition at line 82 of file ManualVelocitySmoothingXY.hpp.

References _state, _trajectory, and VelocitySmoothing::setCurrentVelocity().

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◆ setMaxAccel()

void ManualVelocitySmoothingXY::setMaxAccel ( const float max_accel )

inline

Definition at line 65 of file ManualVelocitySmoothingXY.hpp.

References _trajectory, and VelocitySmoothing::setMaxAccel().

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◆ setMaxJerk()

void ManualVelocitySmoothingXY::setMaxJerk ( const float max_jerk )

inline

Definition at line 58 of file ManualVelocitySmoothingXY.hpp.

References _trajectory, and VelocitySmoothing::setMaxJerk().

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◆ setMaxVel()

void ManualVelocitySmoothingXY::setMaxVel ( const float max_vel )

inline

Definition at line 72 of file ManualVelocitySmoothingXY.hpp.

References _trajectory, and VelocitySmoothing::setMaxVel().

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◆ setVelSpFeedback()

void ManualVelocitySmoothingXY::setVelSpFeedback ( const Vector2f & fb )

inline

Definition at line 56 of file ManualVelocitySmoothingXY.hpp.

References _velocity_setpoint_feedback.

◆ update()

void ManualVelocitySmoothingXY::update	(	float	dt,
		const Vector2f &	velocity_target
	)

Definition at line 57 of file ManualVelocitySmoothingXY.cpp.

◆ updateTrajDurations()

void ManualVelocitySmoothingXY::updateTrajDurations ( const Vector2f & velocity_target )

private

Definition at line 82 of file ManualVelocitySmoothingXY.cpp.

References VelocitySmoothing::timeSynchronization().

Referenced by setCurrentPositionEstimate().

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◆ updateTrajectories()

void ManualVelocitySmoothingXY::updateTrajectories ( float dt )

private

Definition at line 70 of file ManualVelocitySmoothingXY.cpp.

Referenced by setCurrentPositionEstimate().

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Member Data Documentation

◆ _position_estimate

Vector2f ManualVelocitySmoothingXY::_position_estimate

private

Definition at line 114 of file ManualVelocitySmoothingXY.hpp.

Referenced by setCurrentPositionEstimate().

◆ _position_lock_active

bool ManualVelocitySmoothingXY::_position_lock_active {false}

private

Definition at line 109 of file ManualVelocitySmoothingXY.hpp.

◆ _position_setpoint_locked

Vector2f ManualVelocitySmoothingXY::_position_setpoint_locked

private

Definition at line 111 of file ManualVelocitySmoothingXY.hpp.

Referenced by getCurrentPosition().

◆ _state

struct { ... } ManualVelocitySmoothingXY::_state

Referenced by getCurrentAcceleration(), getCurrentJerk(), getCurrentVelocity(), setCurrentPosition(), and setCurrentVelocity().

◆ _trajectory

VelocitySmoothing ManualVelocitySmoothingXY::_trajectory[2]

private

Trajectory in x and y directions.

Definition at line 107 of file ManualVelocitySmoothingXY.hpp.

Referenced by getMaxAccel(), getMaxJerk(), getMaxVel(), setCurrentPosition(), setCurrentVelocity(), setMaxAccel(), setMaxJerk(), and setMaxVel().

◆ _velocity_setpoint_feedback

Vector2f ManualVelocitySmoothingXY::_velocity_setpoint_feedback

private

Definition at line 113 of file ManualVelocitySmoothingXY.hpp.

Referenced by setVelSpFeedback().

◆ a

Vector2f ManualVelocitySmoothingXY::a

Definition at line 118 of file ManualVelocitySmoothingXY.hpp.

◆ j

Vector2f ManualVelocitySmoothingXY::j

Definition at line 117 of file ManualVelocitySmoothingXY.hpp.

◆ v

Vector2f ManualVelocitySmoothingXY::v

Definition at line 119 of file ManualVelocitySmoothingXY.hpp.

◆ x

Vector2f ManualVelocitySmoothingXY::x

Definition at line 120 of file ManualVelocitySmoothingXY.hpp.

The documentation for this class was generated from the following files:

src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXY.hpp
src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXY.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ManualVelocitySmoothingXY()

◆ ~ManualVelocitySmoothingXY()

Member Function Documentation

◆ checkPositionLock()

◆ getCurrentAcceleration()

◆ getCurrentJerk()

◆ getCurrentPosition()

◆ getCurrentVelocity()

◆ getMaxAccel()

◆ getMaxJerk()

◆ getMaxVel()

◆ reset()

◆ resetPositionLock()

◆ setCurrentPosition()

◆ setCurrentPositionEstimate()

◆ setCurrentVelocity()

◆ setMaxAccel()

◆ setMaxJerk()

◆ setMaxVel()

◆ setVelSpFeedback()

◆ update()

◆ updateTrajDurations()

◆ updateTrajectories()

Member Data Documentation

◆ _position_estimate

◆ _position_lock_active

◆ _position_setpoint_locked

◆ _state

◆ _trajectory

◆ _velocity_setpoint_feedback

◆ a

◆ j

◆ v

◆ x