px4_ros2::RoverPositionSetpointType Class Reference

Setpoint type for rover position control. More...

#include <px4_ros2/control/setpoint_types/experimental/rover/position.hpp>

Inheritance diagram for px4_ros2::RoverPositionSetpointType:

Public Member Functions
	RoverPositionSetpointType (Context &context)
Configuration	getConfiguration () override
float	desiredUpdateRateHz () override
void	update (const Eigen::Vector2f &position_ned, const std::optional< Eigen::Vector2f > &start_ned={}, std::optional< float > cruising_speed={}, std::optional< float > arrival_speed={}, std::optional< float > yaw={})
	Send a rover position setpoint to the flight controller.
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 rover position control.

Member Function Documentation

desiredUpdateRateHz()

float px4_ros2::RoverPositionSetpointType::desiredUpdateRateHz ( )

inlineoverridevirtual

Reimplemented from px4_ros2::SetpointBase.

getConfiguration()

Configuration px4_ros2::RoverPositionSetpointType::getConfiguration ( )

overridevirtual

Implements px4_ros2::SetpointBase.

update()

void px4_ros2::RoverPositionSetpointType::update	(	const Eigen::Vector2f &	position_ned,
		const std::optional< Eigen::Vector2f > &	start_ned = {},
		std::optional< float >	cruising_speed = {},
		std::optional< float >	arrival_speed = {},
		std::optional< float >	yaw = {}
	)

Send a rover position setpoint to the flight controller.

Parameters

position_ned	[m] Target position in NED frame. Takes values in [-inf, inf].
start_ned	[m] Start position which specifies a line for the rover to track (Optional, defaults to vehicle position). Takes values in [-inf, inf].
cruising_speed	[m/s] Cruising speed (Optional, defaults to maximum speed). Takes values in [0, inf].
arrival_speed	[m/s] Speed the rover should arrive at the target with (Optional, defaults to zero). Takes values in [0, inf].
yaw	[rad] Mecanum only: Specify vehicle yaw during travel (Optional, defaults to vehicle yaw). Takes values in [-pi,pi].

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

• px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/rover/position.hpp