px4_ros2::GotoSetpointType Class Reference

Setpoint type for smooth position and heading control. More...

#include <px4_ros2/control/setpoint_types/goto.hpp>

Inheritance diagram for px4_ros2::GotoSetpointType:

Public Member Functions
	GotoSetpointType (Context &context)
Configuration	getConfiguration () override
void	update (const Eigen::Vector3f &position, const std::optional< float > &heading={}, const std::optional< float > &max_horizontal_speed={}, const std::optional< float > &max_vertical_speed={}, const std::optional< float > &max_heading_rate={})
	Go-to setpoint update. More...
float	desiredUpdateRateHz () override
Public Member Functions inherited from px4_ros2::SetpointBase
	SetpointBase (Context &context)
std::shared_ptr< SetpointBase >	getSharedPtr ()
void	setShouldActivateCallback (const ShouldActivateCB &should_activate_cb)
void	setActive (bool active)

Additional Inherited Members
Public Types inherited from px4_ros2::SetpointBase
using	ShouldActivateCB = std::function< void()>
Protected Member Functions inherited from px4_ros2::SetpointBase
void	onUpdate ()

Detailed Description

Setpoint type for smooth position and heading control.

Member Function Documentation

update()

void px4_ros2::GotoSetpointType::update	(	const Eigen::Vector3f &	position,
		const std::optional< float > &	heading = {},
		const std::optional< float > &	max_horizontal_speed = {},
		const std::optional< float > &	max_vertical_speed = {},
		const std::optional< float > &	max_heading_rate = {}
	)

Go-to setpoint update.

Unset optional values are not controlled

Parameters

position	[m] NED earth-fixed frame
heading	[rad] from North
max_horizontal_speed	[m/s] in NE-datum of NED earth-fixed frame
max_vertical_speed	[m/s] in D-axis of NED earth-fixed frame
max_heading_rate	[rad/s] about D-axis of NED earth-fixed frame

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

• px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp