#include <AC_Avoid.h>

Collaboration diagram for AC_Avoid:

Public Member Functions
	AC_Avoid (const AP_AHRS &ahrs, const AC_Fence &fence, const AP_Proximity &proximity, const AP_Beacon *beacon=nullptr)
	Constructor. More...

	AC_Avoid (const AC_Avoid &other)=delete

AC_Avoid &	operator= (const AC_Avoid &)=delete

void	adjust_velocity (float kP, float accel_cmss, Vector2f &desired_vel_cms, float dt)

void	adjust_velocity (float kP, float accel_cmss, Vector3f &desired_vel_cms, float dt)

void	adjust_speed (float kP, float accel, float heading, float &speed, float dt)

void	adjust_velocity_z (float kP, float accel_cmss, float &climb_rate_cms, float dt)

void	adjust_roll_pitch (float &roll, float &pitch, float angle_max)

void	proximity_avoidance_enable (bool on_off)

bool	proximity_avoidance_enabled ()

void	limit_velocity (float kP, float accel_cmss, Vector2f &desired_vel_cms, const Vector2f &limit_direction, float limit_distance_cm, float dt) const

float	get_max_speed (float kP, float accel_cmss, float distance_cm, float dt) const

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Types
enum	BehaviourType { BEHAVIOR_SLIDE = 0, BEHAVIOR_STOP = 1 }

Private Member Functions
void	adjust_velocity_circle_fence (float kP, float accel_cmss, Vector2f &desired_vel_cms, float dt)

void	adjust_velocity_polygon_fence (float kP, float accel_cmss, Vector2f &desired_vel_cms, float dt)

void	adjust_velocity_beacon_fence (float kP, float accel_cmss, Vector2f &desired_vel_cms, float dt)

void	adjust_velocity_proximity (float kP, float accel_cmss, Vector2f &desired_vel_cms, float dt)

void	adjust_velocity_polygon (float kP, float accel_cmss, Vector2f &desired_vel_cms, const Vector2f *boundary, uint16_t num_points, bool earth_frame, float margin, float dt)

float	get_stopping_distance (float kP, float accel_cmss, float speed_cms) const

float	distance_to_lean_pct (float dist_m)

void	get_proximity_roll_pitch_pct (float &roll_positive, float &roll_negative, float &pitch_positive, float &pitch_negative)

Private Attributes
const AP_AHRS &	_ahrs

const AC_Fence &	_fence

const AP_Proximity &	_proximity

const AP_Beacon *	_beacon

AP_Int8	_enabled

AP_Int16	_angle_max

AP_Float	_dist_max

AP_Float	_margin

AP_Int8	_behavior

bool	_proximity_enabled = true

Detailed Description

Definition at line 29 of file AC_Avoid.h.

Member Enumeration Documentation

◆ BehaviourType

enum AC_Avoid::BehaviourType

private

Enumerator
BEHAVIOR_SLIDE
BEHAVIOR_STOP

Definition at line 82 of file AC_Avoid.h.

Constructor & Destructor Documentation

◆ AC_Avoid() [1/2]

AC_Avoid::AC_Avoid	(	const AP_AHRS &	ahrs,
		const AC_Fence &	fence,
		const AP_Proximity &	proximity,
		const AP_Beacon *	beacon = `nullptr`
	)

Constructor.

Definition at line 54 of file AC_Avoid.cpp.

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◆ AC_Avoid() [2/2]

AC_Avoid::AC_Avoid ( const AC_Avoid & other )

delete

Member Function Documentation

◆ adjust_roll_pitch()

void AC_Avoid::adjust_roll_pitch	(	float &	roll,
		float &	pitch,
		float	angle_max
	)

Definition at line 186 of file AC_Avoid.cpp.

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◆ adjust_speed()

void AC_Avoid::adjust_speed	(	float	kP,
		float	accel,
		float	heading,
		float &	speed,
		float	dt
	)

Definition at line 101 of file AC_Avoid.cpp.

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◆ adjust_velocity() [1/2]

void AC_Avoid::adjust_velocity	(	float	kP,
		float	accel_cmss,
		Vector2f &	desired_vel_cms,
		float	dt
	)

Definition at line 63 of file AC_Avoid.cpp.

Referenced by adjust_speed(), adjust_velocity(), and AC_Loiter::calc_desired_velocity().

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◆ adjust_velocity() [2/2]

void AC_Avoid::adjust_velocity	(	float	kP,
		float	accel_cmss,
		Vector3f &	desired_vel_cms,
		float	dt
	)

Definition at line 88 of file AC_Avoid.cpp.

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◆ adjust_velocity_beacon_fence()

void AC_Avoid::adjust_velocity_beacon_fence	(	float	kP,
		float	accel_cmss,
		Vector2f &	desired_vel_cms,
		float	dt
	)

private

Definition at line 353 of file AC_Avoid.cpp.

Referenced by adjust_velocity().

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◆ adjust_velocity_circle_fence()

void AC_Avoid::adjust_velocity_circle_fence	(	float	kP,
		float	accel_cmss,
		Vector2f &	desired_vel_cms,
		float	dt
	)

private

Definition at line 266 of file AC_Avoid.cpp.

Referenced by adjust_velocity().

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◆ adjust_velocity_polygon()

void AC_Avoid::adjust_velocity_polygon	(	float	kP,
		float	accel_cmss,
		Vector2f &	desired_vel_cms,
		const Vector2f *	boundary,
		uint16_t	num_points,
		bool	earth_frame,
		float	margin,
		float	dt
	)

private

Definition at line 400 of file AC_Avoid.cpp.

Referenced by adjust_velocity_beacon_fence(), adjust_velocity_polygon_fence(), and adjust_velocity_proximity().

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◆ adjust_velocity_polygon_fence()

void AC_Avoid::adjust_velocity_polygon_fence	(	float	kP,
		float	accel_cmss,
		Vector2f &	desired_vel_cms,
		float	dt
	)

private

Definition at line 324 of file AC_Avoid.cpp.

Referenced by adjust_velocity().

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◆ adjust_velocity_proximity()

void AC_Avoid::adjust_velocity_proximity	(	float	kP,
		float	accel_cmss,
		Vector2f &	desired_vel_cms,
		float	dt
	)

private

Definition at line 379 of file AC_Avoid.cpp.

Referenced by adjust_velocity().

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◆ adjust_velocity_z()

void AC_Avoid::adjust_velocity_z	(	float	kP,
		float	accel_cmss,
		float &	climb_rate_cms,
		float	dt
	)

Definition at line 118 of file AC_Avoid.cpp.

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◆ distance_to_lean_pct()

float AC_Avoid::distance_to_lean_pct ( float dist_m )

private

Definition at line 523 of file AC_Avoid.cpp.

Referenced by get_proximity_roll_pitch_pct().

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◆ get_max_speed()

float AC_Avoid::get_max_speed	(	float	kP,
		float	accel_cmss,
		float	distance_cm,
		float	dt
	)		const

Definition at line 254 of file AC_Avoid.cpp.

Referenced by adjust_velocity_circle_fence(), adjust_velocity_z(), limit_velocity(), and proximity_avoidance_enabled().

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◆ get_proximity_roll_pitch_pct()

void AC_Avoid::get_proximity_roll_pitch_pct	(	float &	roll_positive,
		float &	roll_negative,
		float &	pitch_positive,
		float &	pitch_negative
	)

private

Definition at line 534 of file AC_Avoid.cpp.

Referenced by adjust_roll_pitch().

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◆ get_stopping_distance()

float AC_Avoid::get_stopping_distance	(	float	kP,
		float	accel_cmss,
		float	speed_cms
	)		const

private

Definition at line 500 of file AC_Avoid.cpp.

Referenced by adjust_velocity_circle_fence(), and adjust_velocity_polygon().

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◆ limit_velocity()

void AC_Avoid::limit_velocity	(	float	kP,
		float	accel_cmss,
		Vector2f &	desired_vel_cms,
		const Vector2f &	limit_direction,
		float	limit_distance_cm,
		float	dt
	)		const

Definition at line 239 of file AC_Avoid.cpp.

Referenced by adjust_velocity_polygon(), and proximity_avoidance_enabled().

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◆ operator=()

AC_Avoid& AC_Avoid::operator= ( const AC_Avoid & )

delete

◆ proximity_avoidance_enable()

void AC_Avoid::proximity_avoidance_enable ( bool on_off )

inline

Definition at line 62 of file AC_Avoid.h.

◆ proximity_avoidance_enabled()

bool AC_Avoid::proximity_avoidance_enabled ( )

inline

Definition at line 63 of file AC_Avoid.h.

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Member Data Documentation

◆ _ahrs

const AP_AHRS& AC_Avoid::_ahrs

private

Definition at line 130 of file AC_Avoid.h.

Referenced by adjust_velocity_circle_fence(), adjust_velocity_polygon(), and adjust_velocity_z().

◆ _angle_max

AP_Int16 AC_Avoid::_angle_max

private

Definition at line 137 of file AC_Avoid.h.

Referenced by adjust_roll_pitch().

◆ _beacon

const AP_Beacon* AC_Avoid::_beacon

private

Definition at line 133 of file AC_Avoid.h.

Referenced by adjust_velocity_beacon_fence().

◆ _behavior

AP_Int8 AC_Avoid::_behavior

private

Definition at line 140 of file AC_Avoid.h.

Referenced by adjust_velocity_circle_fence(), and adjust_velocity_polygon().

◆ _dist_max

AP_Float AC_Avoid::_dist_max

private

Definition at line 138 of file AC_Avoid.h.

Referenced by distance_to_lean_pct(), and get_proximity_roll_pitch_pct().

◆ _enabled

AP_Int8 AC_Avoid::_enabled

private

Definition at line 136 of file AC_Avoid.h.

Referenced by adjust_roll_pitch(), adjust_velocity(), and adjust_velocity_z().

◆ _fence

const AC_Fence& AC_Avoid::_fence

private

Definition at line 131 of file AC_Avoid.h.

Referenced by adjust_velocity_beacon_fence(), adjust_velocity_circle_fence(), adjust_velocity_polygon(), adjust_velocity_polygon_fence(), and adjust_velocity_z().

◆ _margin

AP_Float AC_Avoid::_margin

private

Definition at line 139 of file AC_Avoid.h.

Referenced by adjust_velocity_proximity(), and adjust_velocity_z().

◆ _proximity

const AP_Proximity& AC_Avoid::_proximity

private

Definition at line 132 of file AC_Avoid.h.

Referenced by adjust_velocity_proximity(), adjust_velocity_z(), and get_proximity_roll_pitch_pct().

◆ _proximity_enabled

bool AC_Avoid::_proximity_enabled = true

private

Definition at line 142 of file AC_Avoid.h.

Referenced by adjust_roll_pitch(), adjust_velocity(), proximity_avoidance_enable(), and proximity_avoidance_enabled().

◆ var_info

const AP_Param::GroupInfo AC_Avoid::var_info

static

Definition at line 78 of file AC_Avoid.h.

Referenced by AC_Avoid().

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

libraries/AC_Avoidance/AC_Avoid.h
libraries/AC_Avoidance/AC_Avoid.cpp

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ BehaviourType

Constructor & Destructor Documentation

◆ AC_Avoid() [1/2]

◆ AC_Avoid() [2/2]

Member Function Documentation

◆ adjust_roll_pitch()

◆ adjust_speed()

◆ adjust_velocity() [1/2]

◆ adjust_velocity() [2/2]

◆ adjust_velocity_beacon_fence()

◆ adjust_velocity_circle_fence()

◆ adjust_velocity_polygon()

◆ adjust_velocity_polygon_fence()

◆ adjust_velocity_proximity()

◆ adjust_velocity_z()

◆ distance_to_lean_pct()

◆ get_max_speed()

◆ get_proximity_roll_pitch_pct()

◆ get_stopping_distance()

◆ limit_velocity()

◆ operator=()

◆ proximity_avoidance_enable()

◆ proximity_avoidance_enabled()

Member Data Documentation

◆ _ahrs

◆ _angle_max

◆ _beacon

◆ _behavior

◆ _dist_max

◆ _enabled

◆ _fence

◆ _margin

◆ _proximity

◆ _proximity_enabled

◆ var_info