px4_ros2::SetpointBase Class Reference

Inheritance diagram for px4_ros2::SetpointBase:

Public Types
using	ShouldActivateCB = std::function< void()>
using	SetpointType = decltype(px4_msgs::msg::SetpointConfig::type)

Public Member Functions
	SetpointBase (Context &context)
std::shared_ptr< SetpointBase >	getSharedPtr ()
virtual SetpointType	getSetpointType ()=0
virtual void	clearOptionalRequirements (px4_msgs::msg::SetpointConfigReply &setpoint_config_reply)
virtual float	desiredUpdateRateHz ()
void	setShouldActivateCallback (const ShouldActivateCB &should_activate_cb)
void	setActive (bool active)

Protected Member Functions
void	onUpdate ()

Member Function Documentation

clearOptionalRequirements()

virtual void px4_ros2::SetpointBase::clearOptionalRequirements ( px4_msgs::msg::SetpointConfigReply &  setpoint_config_reply )

inlinevirtual

Allows a setpoint class to clear an optional requirement. This is for setpoint types that support multiple variations, for example some that require local position and others that do not.

Parameters

setpoint_config_reply

input and output config

Reimplemented in px4_ros2::TrajectorySetpointType, and px4_ros2::FwLateralLongitudinalSetpointType.

getSetpointType()

virtual SetpointType px4_ros2::SetpointBase::getSetpointType ( )

pure virtual

Returns one of px4_msgs::msg::SetpointType::TYPE_*

Implemented in px4_ros2::DirectActuatorsSetpointType, px4_ros2::AttitudeSetpointType, px4_ros2::RatesSetpointType, px4_ros2::RoverPositionSetpointType, px4_ros2::RoverSpeedAttitudeSetpointType, px4_ros2::RoverSpeedRateSetpointType, px4_ros2::RoverSpeedSteeringSetpointType, px4_ros2::RoverThrottleAttitudeSetpointType, px4_ros2::RoverThrottleRateSetpointType, px4_ros2::RoverThrottleSteeringSetpointType, px4_ros2::TrajectorySetpointType, px4_ros2::FwLateralLongitudinalSetpointType, and px4_ros2::MulticopterGotoSetpointType.

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

• px4_ros2_cpp/include/px4_ros2/common/setpoint_base.hpp