Class BasicMotionReferenceHandler

Defined in File basic_motion_references.hpp

Inheritance Relationships

Derived Types

public as2::motionReferenceHandlers::ACROMotion (Class ACROMotion)
public as2::motionReferenceHandlers::HoverMotion (Class HoverMotion)
public as2::motionReferenceHandlers::PositionMotion (Class PositionMotion)
public as2::motionReferenceHandlers::SpeedInAPlaneMotion (Class SpeedInAPlaneMotion)
public as2::motionReferenceHandlers::SpeedMotion (Class SpeedMotion)
public as2::motionReferenceHandlers::TrajectoryMotion (Class TrajectoryMotion)

Class Documentation

class BasicMotionReferenceHandler

Subclassed by as2::motionReferenceHandlers::ACROMotion, as2::motionReferenceHandlers::HoverMotion, as2::motionReferenceHandlers::PositionMotion, as2::motionReferenceHandlers::SpeedInAPlaneMotion, as2::motionReferenceHandlers::SpeedMotion, as2::motionReferenceHandlers::TrajectoryMotion

Public Functions

explicit BasicMotionReferenceHandler(as2::Node *as2_ptr, const std::string &ns = "")

~BasicMotionReferenceHandler()

Protected Functions

bool sendThrustCommand()

bool sendPoseCommand()

bool sendTwistCommand()

bool sendTrajectoryCommand()

bool checkMode()

Protected Attributes

as2::Node *node_ptr_

std::string namespace_

as2_msgs::msg::TrajectorySetpoints command_trajectory_msg_

geometry_msgs::msg::PoseStamped command_pose_msg_

geometry_msgs::msg::TwistStamped command_twist_msg_

as2_msgs::msg::Thrust command_thrust_msg_

as2_msgs::msg::ControlMode desired_control_mode_