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

Inheritance diagram for px4_ros2::MulticopterGotoSetpointType:

Public Member Functions
	MulticopterGotoSetpointType (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

void px4_ros2::MulticopterGotoSetpointType::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

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