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Vector2Mission Class Reference

A return to mission handler using only vector commands.

#include <Handlers.hpp>

Inheritance diagram for Vector2Mission:
EventHandler< CognitionState_t >

Public Member Functions

retVal_e Initialize (CognitionState_t *state)
 perform all initialization activities for a specific task More...
 
retVal_e Execute (CognitionState_t *state)
 perform the core activity More...
 
retVal_e Terminate (CognitionState_t *state)
 perform termination activities More...
 
- Public Member Functions inherited from EventHandler< CognitionState_t >
bool RunEvent (CognitionState_t *state)
 Run this event. More...
 
void ExecuteHandler (std::shared_ptr< EventHandler< CognitionState_t > > hdl, std::string eventName, float priorityNew=0)
 Spawn another handler. More...
 

Public Attributes

larcfm::Position target
 target position we are currently vectoring to
 
double gs
 ground speed
 
- Public Attributes inherited from EventHandler< CognitionState_t >
std::string eventName
 event name
 
execState_e execState
 current execution state for this handler
 
std::list< std::shared_ptr< EventHandler< CognitionState_t > > > children
 list of child handlers
 
float priority
 current execution priority
 
float defaultPriority
 user defined priority for this handler
 

Additional Inherited Members

- Public Types inherited from EventHandler< CognitionState_t >
enum  execState_e
 enumerations for the execution state More...
 
enum  retVal_e
 enumerations for the return state
 

Member Function Documentation

◆ Execute()

retVal_e Vector2Mission::Execute ( CognitionState_t state)
inlinevirtual
Parameters
state
Returns
retVal_e

get heading to target

compute proportial control to reach target altitude

Determine turn direction based on turn conflicts

  • left turn if right turn conflict
  • right turn if left turn conflict

speed reduction when near target to facilitate capture

Limit climb rate within [-2.5,2.5] m/s. TODO: Use parameters here

Enqueue the computed velocity commands

Finish vectoring if in the vicinity

Reimplemented from EventHandler< CognitionState_t >.

◆ Initialize()

retVal_e Vector2Mission::Initialize ( CognitionState_t state)
inlinevirtual
Parameters
state
Returns
retVal_e

Extract current ground speed at initialization and maintain this speed

Two possible targets based on user input

  • Vector to next feasible waypoint in the mission plan
  • Vector to nearest point on the mission flightplan

Reimplemented from EventHandler< CognitionState_t >.

◆ Terminate()

retVal_e Vector2Mission::Terminate ( CognitionState_t state)
inlinevirtual
Parameters
state
Returns
retVal_e

Engage nominal mission plan upon termination

Reimplemented from EventHandler< CognitionState_t >.


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