Class ACROMotion

Inheritance Relationships

Base Type

Class Documentation

class ACROMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler

The ACROMotion class is a motion reference handler that moves the robot to a given acro.

Public Functions

explicit ACROMotion(as2::Node *node_ptr, const std::string &ns = "")

ACROMotion Constructor.

Parameters:

node – as2::Node pointer.

inline ~ACROMotion()

ACROMotion Destructor.

bool sendACRO(const as2_msgs::msg::Thrust &thrust, const geometry_msgs::msg::Vector3 &angular_rates)

sendACRO sends a acro to the robot.

Using the time stamp and frame id from the thrust message. Frame id should be base_link.

Parameters:

  • thrust – as2_msgs::msg::Thrust to be sent.

  • angular_rates – geometry_msgs::msg::Vector3 to be sent.

Returns:

true if the command was sent successfully, false otherwise.