Setpoint type for trajectory control. More...

#include <px4_ros2/control/setpoint_types/experimental/trajectory.hpp>

Inheritance diagram for px4_ros2::TrajectorySetpointType:

Public Member Functions
	TrajectorySetpointType (Context &context, bool local_position_is_optional=false)

Configuration	getConfiguration () override

void	update (const Eigen::Vector3f &velocity_ned_m_s, const std::optional< Eigen::Vector3f > &acceleration_ned_m_s2={}, std::optional< float > yaw_ned_rad={}, std::optional< float > yaw_rate_ned_rad_s={})

void	update (const TrajectorySetpoint &setpoint)
	Update the setpoint with full flexibility by passing a TrajectorySetpoint. More...

void	updatePosition (const Eigen::Vector3f &position_ned_m)
	Position setpoint update. More...

Public Member Functions inherited from px4_ros2::SetpointBase
	SetpointBase (Context &context)

std::shared_ptr< SetpointBase >	getSharedPtr ()

virtual float	desiredUpdateRateHz ()

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 trajectory control.

Control entries must not be contradicting.

Constructor & Destructor Documentation

◆ TrajectorySetpointType()

px4_ros2::TrajectorySetpointType::TrajectorySetpointType	(	Context &	context,
		bool	local_position_is_optional = `false`
	)

explicit

setting local_position_is_optional to true allows to create a mode that uses trajectory setpoint but doesn't necessarly require local position. Sending XY position setpoint without a correct source of positional data is not recommended

Member Function Documentation

◆ update()

void px4_ros2::TrajectorySetpointType::update ( const TrajectorySetpoint & setpoint )

Update the setpoint with full flexibility by passing a TrajectorySetpoint.

Parameters

setpoint a TrajectorySetpoint object where position, velocity and acceleration can be set individually for full flexibility

Warning: This method is not recommended for general use because it is possible to set contradicting setpoint values that can result in an unstable system and to crashes.

◆ updatePosition()

void px4_ros2::TrajectorySetpointType::updatePosition ( const Eigen::Vector3f & position_ned_m )

Position setpoint update.

The MulticopterGotoSetpointType should be preferred.

Parameters

position_ned_m [m] NED earth-fixed frame

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

px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/trajectory.hpp