fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D Class Reference

#include <analytical_kinematic_box_quadrotor_decoupled_6d.h>

Inheritance diagram for fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D:

Public Member Functions
	AnalyticalKinematicBoxQuadrotorDecoupled6D ()
std::unique_ptr< RelativeState< PositionVelocity, PositionVelocity > >	Gradient (const PositionVelocity &vehicle_x, const PositionVelocity &planner_x) const
double	Priority (const PositionVelocity &vehicle_x, const PositionVelocity &planner_x) const
double	Value (const PositionVelocity &vehicle_x, const PositionVelocity &planner_x) const
	~AnalyticalKinematicBoxQuadrotorDecoupled6D ()
Public Member Functions inherited from fastrack::value::ValueFunction< PositionVelocity, QuadrotorControl, QuadrotorDecoupled6D< QuadrotorControlBoundBox >, PositionVelocity, VectorXd, Kinematics< PositionVelocity >, Box >
const RelativeDynamics< PositionVelocity, QuadrotorControl, PositionVelocity, VectorXd > &	GetRelativeDynamics () const
bool	Initialize (const ros::NodeHandle &n)
QuadrotorControl	OptimalControl (const PositionVelocity &tracker_x, const PositionVelocity &planner_x) const
const Kinematics< PositionVelocity > &	PlannerDynamics () const
const QuadrotorDecoupled6D< QuadrotorControlBoundBox > &	TrackerDynamics () const
const Box &	TrackingBound () const
virtual	~ValueFunction ()

Private Member Functions
bool	LoadParameters (const ros::NodeHandle &n)
bool	RegisterCallbacks (const ros::NodeHandle &n)

Private Attributes
Vector3d	acc_dist_
Vector3d	max_acc_
Vector3d	pos_exp_
Vector3d	vel_dist_
Vector3d	vel_exp_

Additional Inherited Members
Protected Member Functions inherited from fastrack::value::ValueFunction< PositionVelocity, QuadrotorControl, QuadrotorDecoupled6D< QuadrotorControlBoundBox >, PositionVelocity, VectorXd, Kinematics< PositionVelocity >, Box >
	ValueFunction ()
Protected Attributes inherited from fastrack::value::ValueFunction< PositionVelocity, QuadrotorControl, QuadrotorDecoupled6D< QuadrotorControlBoundBox >, PositionVelocity, VectorXd, Kinematics< PositionVelocity >, Box >
Box	bound_
bool	initialized_
std::string	name_
Kinematics< PositionVelocity >	planner_dynamics_
std::unique_ptr< RelativeDynamics< PositionVelocity, QuadrotorControl, PositionVelocity, VectorXd > >	relative_dynamics_
QuadrotorDecoupled6D< QuadrotorControlBoundBox >	tracker_dynamics_

Detailed Description

Definition at line 75 of file analytical_kinematic_box_quadrotor_decoupled_6d.h.

Constructor & Destructor Documentation

fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::~AnalyticalKinematicBoxQuadrotorDecoupled6D ( )

inline

Definition at line 81 of file analytical_kinematic_box_quadrotor_decoupled_6d.h.

fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::AnalyticalKinematicBoxQuadrotorDecoupled6D ( )

inlineexplicit

Definition at line 82 of file analytical_kinematic_box_quadrotor_decoupled_6d.h.

Member Function Documentation

std::unique_ptr< RelativeState< PositionVelocity, PositionVelocity > > fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::Gradient ( const PositionVelocity &  vehicle_x, const PositionVelocity &  planner_x  ) const

virtual

Implements fastrack::value::ValueFunction< PositionVelocity, QuadrotorControl, QuadrotorDecoupled6D< QuadrotorControlBoundBox >, PositionVelocity, VectorXd, Kinematics< PositionVelocity >, Box >.

Definition at line 168 of file analytical_kinematic_box_quadrotor_decoupled_6d.cpp.

bool fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::LoadParameters ( const ros::NodeHandle &  n )

privatevirtual

Reimplemented from fastrack::value::ValueFunction< PositionVelocity, QuadrotorControl, QuadrotorDecoupled6D< QuadrotorControlBoundBox >, PositionVelocity, VectorXd, Kinematics< PositionVelocity >, Box >.

Definition at line 55 of file analytical_kinematic_box_quadrotor_decoupled_6d.cpp.

double fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::Priority ( const PositionVelocity &  vehicle_x, const PositionVelocity &  planner_x  ) const

virtual

Implements fastrack::value::ValueFunction< PositionVelocity, QuadrotorControl, QuadrotorDecoupled6D< QuadrotorControlBoundBox >, PositionVelocity, VectorXd, Kinematics< PositionVelocity >, Box >.

Definition at line 217 of file analytical_kinematic_box_quadrotor_decoupled_6d.cpp.

bool fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::RegisterCallbacks ( const ros::NodeHandle &  n )

privatevirtual

Reimplemented from fastrack::value::ValueFunction< PositionVelocity, QuadrotorControl, QuadrotorDecoupled6D< QuadrotorControlBoundBox >, PositionVelocity, VectorXd, Kinematics< PositionVelocity >, Box >.

Definition at line 123 of file analytical_kinematic_box_quadrotor_decoupled_6d.cpp.

double fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::Value ( const PositionVelocity &  vehicle_x, const PositionVelocity &  planner_x  ) const

virtual

Implements fastrack::value::ValueFunction< PositionVelocity, QuadrotorControl, QuadrotorDecoupled6D< QuadrotorControlBoundBox >, PositionVelocity, VectorXd, Kinematics< PositionVelocity >, Box >.

Definition at line 129 of file analytical_kinematic_box_quadrotor_decoupled_6d.cpp.

Member Data Documentation

Vector3d fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::acc_dist_

private

Definition at line 109 of file analytical_kinematic_box_quadrotor_decoupled_6d.h.

Vector3d fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::max_acc_

private

Definition at line 105 of file analytical_kinematic_box_quadrotor_decoupled_6d.h.

Vector3d fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::pos_exp_

private

Definition at line 112 of file analytical_kinematic_box_quadrotor_decoupled_6d.h.

Vector3d fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::vel_dist_

private

Definition at line 108 of file analytical_kinematic_box_quadrotor_decoupled_6d.h.

Vector3d fastrack::value::AnalyticalKinematicBoxQuadrotorDecoupled6D::vel_exp_

private

Definition at line 113 of file analytical_kinematic_box_quadrotor_decoupled_6d.h.

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

• analytical_kinematic_box_quadrotor_decoupled_6d.h
• analytical_kinematic_box_quadrotor_decoupled_6d.cpp