px4_ros2::RoverSpeedSteeringSetpointType Class Reference

Setpoint type for rover speed and steering control. More...

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

Inheritance diagram for px4_ros2::RoverSpeedSteeringSetpointType:

Public Member Functions
	RoverSpeedSteeringSetpointType (Context &context)
Configuration	getConfiguration () override
float	desiredUpdateRateHz () override
void	update (float speed_body_x, float normalized_steering_setpoint, std::optional< float > speed_body_y={})
	Send a rover speed setpoint and a rover steering 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 speed and steering control.

Member Function Documentation

desiredUpdateRateHz()

float px4_ros2::RoverSpeedSteeringSetpointType::desiredUpdateRateHz ( )

inlineoverridevirtual

Reimplemented from px4_ros2::SetpointBase.

getConfiguration()

Configuration px4_ros2::RoverSpeedSteeringSetpointType::getConfiguration ( )

overridevirtual

Implements px4_ros2::SetpointBase.

update()

void px4_ros2::RoverSpeedSteeringSetpointType::update	(	float	speed_body_x,
		float	normalized_steering_setpoint,
		std::optional< float >	speed_body_y = {}
	)

Send a rover speed setpoint and a rover steering setpoint to the flight controller.

Parameters

speed_body_x	[m/s] Speed setpoint in body x direction. Takes values in [-inf (Backwards), inf (Forwards)].
normalized_steering_setpoint	[-] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels. Takes values in [-1 (Left), 1 (Right)].
speed_body_y	[m/s] Mecanum only: Speed setpoint in body y direction (Only relevant for mecanum rovers). Takes values in [-inf (Left), inf (Right)].

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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/speed_steering.hpp