goto.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <Eigen/Eigen>
#include <optional>
#include <px4_msgs/msg/goto_setpoint.hpp>
#include <px4_ros2/common/setpoint_base.hpp>
#include <px4_ros2/utils/geodesic.hpp>
 
namespace px4_ros2 {
class MulticopterGotoSetpointType : public SetpointBase {
 public:
  explicit MulticopterGotoSetpointType(Context& context);
 
  ~MulticopterGotoSetpointType() override = default;
 
  SetpointType getSetpointType() override
  {
    return px4_msgs::msg::SetpointConfig::TYPE_MULTICOPTER_GOTO;
  }
 
  void update(const Eigen::Vector3f& position, const std::optional<float>& heading = {},
              const std::optional<float>& max_horizontal_speed = {},
              const std::optional<float>& max_vertical_speed = {},
              const std::optional<float>& max_heading_rate = {});
 
  float desiredUpdateRateHz() override { return 30.f; }
 
 private:
  rclcpp::Node& _node;
  rclcpp::Publisher<px4_msgs::msg::GotoSetpoint>::SharedPtr _goto_setpoint_pub;
};
 
class MulticopterGotoGlobalSetpointType {
 public:
  explicit MulticopterGotoGlobalSetpointType(Context& context);
 
  ~MulticopterGotoGlobalSetpointType() = default;
 
  void update(const Eigen::Vector3d& global_position, const std::optional<float>& heading = {},
              const std::optional<float>& max_horizontal_speed = {},
              const std::optional<float>& max_vertical_speed = {},
              const std::optional<float>& max_heading_rate = {});
 
 private:
  rclcpp::Node& _node;
  std::unique_ptr<MapProjection> _map_projection;
  std::shared_ptr<MulticopterGotoSetpointType> _goto_setpoint;
};
 
} /* namespace px4_ros2 */