trajectory.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_msgs/msg/trajectory_setpoint.hpp>
#include <Eigen/Eigen>
 
#include <px4_ros2/common/setpoint_base.hpp>
 
namespace px4_ros2
{
class TrajectorySetpointType : public SetpointBase
{
public:
  explicit TrajectorySetpointType(Context & context);
 
  ~TrajectorySetpointType() override = default;
 
  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 updatePosition(
    const Eigen::Vector3f & position_ned_m);
 
private:
  rclcpp::Node & _node;
  rclcpp::Publisher<px4_msgs::msg::TrajectorySetpoint>::SharedPtr _trajectory_setpoint_pub;
};
 
} /* namespace px4_ros2 */