px4_ros2::TrajectorySetpointType Class Reference

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)
SetpointType	getSetpointType () override
void	clearOptionalRequirements (px4_msgs::msg::SetpointConfigReply &setpoint_config_reply) 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.
void	updatePosition (const Eigen::Vector3f &position_ned_m)
	Position setpoint update.
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()>
using	SetpointType = decltype(px4_msgs::msg::SetpointConfig::type)
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

clearOptionalRequirements()

void px4_ros2::TrajectorySetpointType::clearOptionalRequirements ( px4_msgs::msg::SetpointConfigReply &  setpoint_config_reply )

overridevirtual

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 from px4_ros2::SetpointBase.

getSetpointType()

SetpointType px4_ros2::TrajectorySetpointType::getSetpointType ( )

inlineoverridevirtual

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

Implements px4_ros2::SetpointBase.

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

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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/trajectory.hpp