Setpoint type for trajectory control. More...

Inheritance diagram for px4_ros2::TrajectorySetpointType:

Public Member Functions
	TrajectorySetpointType (Context &context)

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.

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()>

Protected Member Functions inherited from px4_ros2::SetpointBase
void	onUpdate ()

Detailed Description

Setpoint type for trajectory control.

Control entries must not be contradicting.

Member Function Documentation

Configuration px4_ros2::TrajectorySetpointType::getConfiguration ( )

overridevirtual

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.

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

Position setpoint update.

The GotoSetpointType 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