auterion::Gimbal Class Reference

Gimbal control class. More...

#include <auterion_sdk/gimbal/gimbal.hpp>

Public Member Functions
	Gimbal (SDK &sdk, const std::function< bool(const GimbalDescriptor &candidate)> &find_callback)
	Constructs a gimbal object based on a selection function. More...
	Gimbal (SDK &sdk, const GimbalDescriptor &descriptor=GimbalDescriptor{})
	Constructs a gimbal object based on a descriptor. More...
void	setGimbalMode (const GimbalMode &gimbal_mode)
	Sets gimbal mode. More...
bool	isInControl () const
	Check control of the gimbal. More...
bool	takeControl (const bool force_takeover=false)
	Take control of the gimbal. More...
void	releaseControl ()
	Release control of the gimbal.
void	setRateControl (const float roll_rate_rad_s, const float pitch_rate_rad_s, const float yaw_rate_rad_s) const
	Set rate control. More...
void	setAttitudeControl (const Eigen::Quaternionf &q) const
	Set attitude control using quaternion. More...
void	setAttitudeControl (const float roll_deg, const float pitch_deg, const float yaw_deg) const
	Set attitude control using Euler angles. More...
void	setRoiLocation (const auterion::GlobalPosition &position) const
	Set Region of Interest (ROI) location. More...
void	setRoiLocationNone () const
	Clear Region of Interest (ROI) location.
void	subscribeAttitude (std::function< void(const GimbalAttitude &)> callback)
	Subscribe to gimbal attitude updates. More...

Detailed Description

Gimbal control class.

Constructor & Destructor Documentation

Gimbal() [1/2]

auterion::Gimbal::Gimbal	(	SDK &	sdk,
		const std::function< bool(const GimbalDescriptor &candidate)> &	find_callback
	)

Constructs a gimbal object based on a selection function.

Discovers and selects a gimbal connected to the system based on the given selection function. This method is blocking and waits for a suitable gimbal to be found.

Parameters

sdk	Reference to SDK instance
find_callback	Selection function to choose a gimbal candidate based on its descriptor

Exceptions

Exception

if no gimbal is found within timeout

Gimbal() [2/2]

auterion::Gimbal::Gimbal ( SDK &  sdk, const GimbalDescriptor &  descriptor = GimbalDescriptor{}  )

inline

Constructs a gimbal object based on a descriptor.

Discovers and selects a gimbal connected to the system based on the given descriptor, using a pre-defined selection function. The selection function behaves as follows, in order:

1. If a custom name is provided, the gimbal candidate must match the custom name.
2. If vendor or model names are provided, the gimbal candidate must match the vendor and model names.
3. If no custom name, vendor, or model names are provided, it checks capabilities.

This method is blocking and waits for a suitable gimbal to be found.

Parameters

sdk	Reference to SDK instance
descriptor	Gimbal descriptor which the selected gimbal must match

Exceptions

Exception

if no gimbal is found within timeout

Member Function Documentation

isInControl()

bool auterion::Gimbal::isInControl

(

)

const

Check control of the gimbal.

Check if entity is able to send control commands.

Returns

True if in control, false otherwise

setAttitudeControl() [1/2]

void auterion::Gimbal::setAttitudeControl

(

const Eigen::Quaternionf &

q

)

const

Set attitude control using quaternion.

Parameters

q	Reference to attitude quaternion

quaternion is w.r.t. to vehicle heading (FLU) if gimbal yaw mode is VehicleFollow (default) quaternion is w.r.t. to world East (ENU) if gimbal yaw mode is WorldLock

setAttitudeControl() [2/2]

void auterion::Gimbal::setAttitudeControl	(	const float	roll_deg,
		const float	pitch_deg,
		const float	yaw_deg
	)		const

Set attitude control using Euler angles.

Parameters

roll_deg	Roll angle [deg], positive is right
pitch_deg	Pitch angle [deg], positive is down
yaw_deg	Yaw angle [deg], positive is left

angles in FLU if gimbal yaw mode is VehicleFollow (default) angles in ENU if gimbal yaw mode is WorldLock

setGimbalMode()

void auterion::Gimbal::setGimbalMode

(

const GimbalMode &

gimbal_mode

)

Sets gimbal mode.

Affects subsequent control messages.

Parameters

gimbal_mode

Gimbal mode to set

setRateControl()

void auterion::Gimbal::setRateControl	(	const float	roll_rate_rad_s,
		const float	pitch_rate_rad_s,
		const float	yaw_rate_rad_s
	)		const

Set rate control.

Parameters

roll_rate_rad_s	Roll rate [rad/s], FLU, positive is right
pitch_rate_rad_s	Pitch rate [rad/s], FLU, positive is down
yaw_rate_rad_s	Yaw rate [rad/s], FLU, positive is left

setRoiLocation()

void auterion::Gimbal::setRoiLocation

(

const auterion::GlobalPosition &

position

)

const

Set Region of Interest (ROI) location.

Parameters

position

Reference to global position

subscribeAttitude()

void auterion::Gimbal::subscribeAttitude

(

std::function< void(const GimbalAttitude &)>

callback

)

Subscribe to gimbal attitude updates.

Parameters

callback

Callback function to handle attitude updates

takeControl()

bool auterion::Gimbal::takeControl

(

const bool

force_takeover = false

)

Take control of the gimbal.

This is required before sending control commands.

Parameters

force_takeover

True to force takeover despite another component using it

Returns

True if control was taken, false otherwise

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

• include/auterion_sdk/gimbal/gimbal.hpp