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Support for rovers and third order Bézier splines in GVF parametric (#…
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| <!DOCTYPE module SYSTEM "module.dtd"> | ||
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| <module name="gvf_common" dir="guidance/"> | ||
| <doc> | ||
| <description> | ||
| Common file to allow both gvf to work together. | ||
| Still requires at least one module providing the actual gvf implementation | ||
| </description> | ||
| </doc> | ||
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| <header> | ||
| <file name="gvf_common.h"/> | ||
| </header> | ||
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| <makefile firmware="fixedwing"> | ||
| <file name="gvf_common.c"/> | ||
| </makefile> | ||
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| <makefile firmware="rover"> | ||
| <file name="gvf_common.c"/> | ||
| </makefile> | ||
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| </module> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| /* | ||
| * Copyright (C) 2023 Alfredo Gonzalez Calvin <alfredgo@ucm.es> | ||
| * | ||
| * This file is part of paparazzi. | ||
| * | ||
| * paparazzi is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * paparazzi is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with paparazzi; see the file COPYING. If not, see | ||
| * <http://www.gnu.org/licenses/>. | ||
| */ | ||
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| #include "./gvf_common.h" | ||
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| gvf_common_omega gvf_c_omega; | ||
| gvf_common_params gvf_c_info; |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| /* | ||
| * Copyright (C) 2023 Alfredo Gonzalez Calvin <alfredgo@ucm.es> | ||
| * | ||
| * This file is part of paparazzi. | ||
| * | ||
| * paparazzi is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * paparazzi is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with paparazzi; see the file COPYING. If not, see | ||
| * <http://www.gnu.org/licenses/>. | ||
| */ | ||
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| #ifndef GVF_COMMON_H | ||
| #define GVF_COMMON_H | ||
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| // uint32_t | ||
| #include "std.h" | ||
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| /** @typedef gvf_common_omega | ||
| * @brief Horizontal control signal for both gvf | ||
| * @param omega is the horizontal control signal | ||
| */ | ||
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| typedef struct { | ||
| float omega; | ||
| } gvf_common_omega; | ||
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| extern gvf_common_omega gvf_c_omega; | ||
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| /** @typedef gvf_common_params | ||
| * @brief Different parameters obtained from gvfs. dot means d/dt | ||
| * @param kappa is the curve's curvature | ||
| * @param ori_err is the orientation error | ||
| */ | ||
| typedef struct { | ||
| float kappa; | ||
| float kappa_dot; | ||
| float ori_err; | ||
| float ori_err_dot; | ||
| } gvf_common_params; | ||
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| extern gvf_common_params gvf_c_info; | ||
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| #endif // GVF_COMMON_H | ||
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