LocalVectorDriver Component implements the urn:jaus:jss:mobility:LocalVectorDriver service. More...

#include <LocalVectorDriver.h>

Inherits openjaus::core::Managed, and openjaus::mobility::LocalVectorDriverInterface.

Public Member Functions
	LocalVectorDriver ()
virtual	~LocalVectorDriver ()
virtual bool	setLocalVector (SetLocalVector *setLocalVector)
	SetLocalVector action with input SetLocalVector.
virtual mobility::ReportLocalVector	getReportLocalVector (QueryLocalVector *queryLocalVector)
	Send action for ReportLocalVector with input message QueryLocalVector.
virtual bool	isControllingLvdClient (SetLocalVector *setLocalVector)
	isControllingLvdClient condition.
Protected Attributes
LocalVectorDefaultLoop	localVectorDefaultLoop
LocalVectorReadyLoop	localVectorReadyLoop

Detailed Description

The LocalVectorDriver component provides an implementation of the following service(s). This component can be extended for customized functionality or used via instantiation.

LocalVectorDriver Service

The Local Vector Driver performs closed loop control of the desired local heading, pitch, roll and speed of a mobile platform. The Local Vector Driver is very similar in function to the Global Vector Driver, the difference being that the desired heading is defined in terms of a local coordinate system as opposed to the global coordinate system. The Local Vector Driver takes as input four pieces of information, i.e. the desired heading, pitch and roll of the platform as measured with respect to a local coordinate system and the desired speed of the platform. The desired heading angle is defined in a right hand sense about the Z axis of the local coordinate system where zero degrees defines a heading that is parallel to the X axis of the local coordinate system. The pitch is the angle about the Y-axis and the roll is the desired angle about the X-axis. The Local Vector Driver also receives data from the Local Pose Sensor and the Velocity State Sensor component. This information allows the Local Vector Driver to perform closed loop control on both the platform’s local orientation and speed.

URI: urn:jaus:jss:mobility:LocalVectorDriver

Version: 1.0