Setpoint structure for trajectory control with fine-grained control over individual components. More...

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

Public Member Functions
TrajectorySetpoint &	withPositionX (float x_ned_m)
	Set position setpoint for x-axis in NED frame.

TrajectorySetpoint &	withPositionY (float y_ned_m)
	Set position setpoint for y-axis in NED frame.

TrajectorySetpoint &	withPositionZ (float z_ned_m)
	Set position setpoint for z-axis in NED frame.

TrajectorySetpoint &	withVelocityX (float x_ned_m_s)
	Set velocity setpoint for x-axis in NED frame.

TrajectorySetpoint &	withVelocityY (float y_ned_m_s)
	Set velocity setpoint for y-axis in NED frame.

TrajectorySetpoint &	withVelocityZ (float z_ned_m_s)
	Set velocity setpoint for z-axis in NED frame.

TrajectorySetpoint &	withAccelerationX (float x_ned_m_s2)
	Set acceleration setpoint for x-axis in NED frame.

TrajectorySetpoint &	withAccelerationY (float y_ned_m_s2)
	Set acceleration setpoint for y-axis in NED frame.

TrajectorySetpoint &	withAccelerationZ (float z_ned_m_s2)
	Set acceleration setpoint for z-axis in NED frame.

TrajectorySetpoint &	withYaw (float yaw_rad)
	Set yaw setpoint in NED frame.

TrajectorySetpoint &	withYawRate (float rate_rad_s)
	Set yaw rate setpoint in NED frame.

TrajectorySetpoint &	withPosition (const Eigen::Vector3f &position_ned_m)
	Set position setpoint for all axes (x, y, z) in NED frame.

TrajectorySetpoint &	withHorizontalPosition (const Eigen::Vector2f &position_ned_m)
	Set position setpoint for horizontal axes (x, y) in NED frame.

TrajectorySetpoint &	withVelocity (const Eigen::Vector3f &velocity_ned_m_s)
	Set velocity setpoint for all axes (x, y, z) in NED frame.

TrajectorySetpoint &	withHorizontalVelocity (const Eigen::Vector2f &velocity_ned_m_s)
	Set velocity setpoint for horizontal axes (x, y) in NED frame.

TrajectorySetpoint &	withAcceleration (const Eigen::Vector3f &acceleration_ned_m_s2)
	Set acceleration setpoint for all axes (x, y, z) in NED frame.

TrajectorySetpoint &	withHorizontalAcceleration (const Eigen::Vector2f &acceleration_ned_m_s2)
	Set acceleration setpoint for horizontal axes (x, y) in NED frame.

Public Attributes
std::optional< float >	position_ned_m_x

std::optional< float >	position_ned_m_y

std::optional< float >	position_ned_m_z

std::optional< float >	velocity_ned_m_s_x

std::optional< float >	velocity_ned_m_s_y

std::optional< float >	velocity_ned_m_s_z

std::optional< float >	acceleration_ned_m_s2_x

std::optional< float >	acceleration_ned_m_s2_y

std::optional< float >	acceleration_ned_m_s2_z

std::optional< float >	yaw_ned_rad

std::optional< float >	yaw_rate_ned_rad_s

Detailed Description

Setpoint structure for trajectory control with fine-grained control over individual components.

This structure allows setting position, velocity, acceleration, yaw, and yaw rate individually on a per-axis basis. All fields are optional which means unset fields will not be controlled (NaN values will be sent to PX4).

Warning: Combining certain types of setpoints (e.g., position and velocity on the same axis) can lead to inconsistencies and unstable behavior. Use with caution.

Note: For simple position control, use TrajectorySetpointType::updatePosition() instead, or even better, use the GotoSetpointTypeif possible.

Example: Altitude hold with horizontal velocity

TrajectorySetpoint setpoint;
setpoint.withHorizontalVelocity(Eigen::Vector2f(1.0f, 0.5f)) // Move at 1 m/s forward, 0.5 m/s right
        .withPositionZ(-2.0f);                               // Hold altitude at 2 meters above ground
trajectory_setpoint_type->update(setpoint);

Member Function Documentation

◆ withAcceleration()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withAcceleration ( const Eigen::Vector3f & acceleration_ned_m_s2 )

inline

Set acceleration setpoint for all axes (x, y, z) in NED frame.

Parameters

acceleration_ned_m_s2 Acceleration vector in NED frame [m/s²]

Returns: Reference to self for method chaining

◆ withAccelerationX()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withAccelerationX ( float x_ned_m_s2 )

inline

Set acceleration setpoint for x-axis in NED frame.

Parameters

x_ned_m_s2 Acceleration in x-axis [m/s²]

Returns: Reference to self for method chaining

◆ withAccelerationY()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withAccelerationY ( float y_ned_m_s2 )

inline

Set acceleration setpoint for y-axis in NED frame.

Parameters

y_ned_m_s2 Acceleration in y-axis [m/s²]

Returns: Reference to self for method chaining

◆ withAccelerationZ()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withAccelerationZ ( float z_ned_m_s2 )

inline

Set acceleration setpoint for z-axis in NED frame.

Parameters

z_ned_m_s2 Acceleration in z-axis [m/s²] (negative = upward in NED frame)

Returns: Reference to self for method chaining

◆ withHorizontalAcceleration()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withHorizontalAcceleration ( const Eigen::Vector2f & acceleration_ned_m_s2 )

inline

Set acceleration setpoint for horizontal axes (x, y) in NED frame.

Parameters

acceleration_ned_m_s2 Acceleration vector in NE plane [m/s²]

Returns: Reference to self for method chaining

◆ withHorizontalPosition()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withHorizontalPosition ( const Eigen::Vector2f & position_ned_m )

inline

Set position setpoint for horizontal axes (x, y) in NED frame.

Parameters

position_ned_m Position vector in NE plane [m]

Returns: Reference to self for method chaining

◆ withHorizontalVelocity()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withHorizontalVelocity ( const Eigen::Vector2f & velocity_ned_m_s )

inline

Set velocity setpoint for horizontal axes (x, y) in NED frame.

Parameters

velocity_ned_m_s Velocity vector in NE plane [m/s]

Returns: Reference to self for method chaining

◆ withPosition()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withPosition ( const Eigen::Vector3f & position_ned_m )

inline

Set position setpoint for all axes (x, y, z) in NED frame.

Parameters

position_ned_m Position vector in NED frame [m]

Returns: Reference to self for method chaining

◆ withPositionX()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withPositionX ( float x_ned_m )

inline

Set position setpoint for x-axis in NED frame.

Parameters

x_ned_m Position in x-axis [m]

Returns: Reference to self for method chaining

◆ withPositionY()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withPositionY ( float y_ned_m )

inline

Set position setpoint for y-axis in NED frame.

Parameters

y_ned_m Position in y-axis [m]

Returns: Reference to self for method chaining

◆ withPositionZ()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withPositionZ ( float z_ned_m )

inline

Set position setpoint for z-axis in NED frame.

Parameters

z_ned_m Position in z-axis [m] (negative = above ground in NED frame)

Returns: Reference to self for method chaining

◆ withVelocity()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withVelocity ( const Eigen::Vector3f & velocity_ned_m_s )

inline

Set velocity setpoint for all axes (x, y, z) in NED frame.

Parameters

velocity_ned_m_s Velocity vector in NED frame [m/s]

Returns: Reference to self for method chaining

◆ withVelocityX()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withVelocityX ( float x_ned_m_s )

inline

Set velocity setpoint for x-axis in NED frame.

Parameters

x_ned_m_s Velocity in x-axis [m/s]

Returns: Reference to self for method chaining

◆ withVelocityY()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withVelocityY ( float y_ned_m_s )

inline

Set velocity setpoint for y-axis in NED frame.

Parameters

y_ned_m_s Velocity in y-axis [m/s]

Returns: Reference to self for method chaining

◆ withVelocityZ()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withVelocityZ ( float z_ned_m_s )

inline

Set velocity setpoint for z-axis in NED frame.

Parameters

z_ned_m_s Velocity in z-axis [m/s] (negative = upward in NED frame)

Returns: Reference to self for method chaining

◆ withYaw()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withYaw ( float yaw_rad )

inline

Set yaw setpoint in NED frame.

Parameters

yaw_rad Yaw angle [rad] (0 = North, PI/2 = East)

Returns: Reference to self for method chaining

◆ withYawRate()

TrajectorySetpoint & px4_ros2::TrajectorySetpoint::withYawRate ( float rate_rad_s )

inline

Set yaw rate setpoint in NED frame.

Parameters

rate_rad_s Yaw angular velocity [rad/s]

Returns: Reference to self for method chaining

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

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

Public Member Functions

Public Attributes

Detailed Description

Example: Altitude hold with horizontal velocity

Member Function Documentation

◆ withAcceleration()

◆ withAccelerationX()

◆ withAccelerationY()

◆ withAccelerationZ()

◆ withHorizontalAcceleration()

◆ withHorizontalPosition()

◆ withHorizontalVelocity()

◆ withPosition()

◆ withPositionX()

◆ withPositionY()

◆ withPositionZ()

◆ withVelocity()

◆ withVelocityX()

◆ withVelocityY()

◆ withVelocityZ()

◆ withYaw()

◆ withYawRate()