.. _program_listing_file__tmp_ws_src_aerostack2_as2_aerial_platforms_as2_platform_ign_gazebo_include_as2_platform_ign_gazebo_ignition_platform.hpp:

Program Listing for File ignition_platform.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_aerostack2_as2_aerial_platforms_as2_platform_ign_gazebo_include_as2_platform_ign_gazebo_ignition_platform.hpp>` (``/tmp/ws/src/aerostack2/as2_aerial_platforms/as2_platform_ign_gazebo/include/as2_platform_ign_gazebo/ignition_platform.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*!*******************************************************************************************
    *  \file       ignition_platform.hpp
    *  \brief      Implementation of an Ignition Gazebo UAV platform
    *  \authors    Miguel Fernández Cortizas
    *              Pedro Arias Pérez
    *              David Pérez Saura
    *              Rafael Pérez Seguí
    *
    *  \copyright  Copyright (c) 2022 Universidad Politécnica de Madrid
    *              All Rights Reserved
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    * 1. Redistributions of source code must retain the above copyright notice,
    *    this list of conditions and the following disclaimer.
    * 2. Redistributions in binary form must reproduce the above copyright notice,
    *    this list of conditions and the following disclaimer in the documentation
    *    and/or other materials provided with the distribution.
    * 3. Neither the name of the copyright holder nor the names of its contributors
    *    may be used to endorse or promote products derived from this software
    *    without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
    * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
    * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
    * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
    * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
    * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
    * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
    * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
    * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
    * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    ********************************************************************************/
   
   #ifndef IGNITION_PLATFORM_HPP_
   #define IGNITION_PLATFORM_HPP_
   
   #include <rclcpp/logging.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <std_msgs/msg/bool.hpp>
   
   #include "as2_core/aerial_platform.hpp"
   #include "as2_core/core_functions.hpp"
   #include "as2_core/names/topics.hpp"
   #include "as2_core/utils/control_mode_utils.hpp"
   #include "as2_core/utils/tf_utils.hpp"
   
   #include <geometry_msgs/msg/pose_stamped.hpp>
   #include <geometry_msgs/msg/twist_stamped.hpp>
   
   namespace ignition_platform {
   
   class IgnitionPlatform : public as2::AerialPlatform {
   public:
     IgnitionPlatform();
     ~IgnitionPlatform(){};
   
   public:
     void configureSensors(){};
     bool ownSendCommand() override;
     bool ownSetArmingState(bool state) override;
     bool ownSetOffboardControl(bool offboard) override;
     bool ownSetPlatformControlMode(const as2_msgs::msg::ControlMode &msg) override;
     void ownKillSwitch() override;
     void ownStopPlatform() override;
     bool ownTakeoff() override;
     bool ownLand() override;
   
     // Publishers
     rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr twist_pub_;
     rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr arm_pub_;
   
     // Subscribers
     rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr twist_state_sub_;
   
   private:
     as2_msgs::msg::ControlMode control_in_;
     double yaw_rate_limit_ = M_PI_2;
   
     bool enable_takeoff_           = false;
     bool enable_land_              = false;
     bool state_received_           = false;
     double current_height_         = 0.0;
     double current_vertical_speed_ = 0.0;
     std::shared_ptr<as2::tf::TfHandler> tf_handler_;
   
   private:
     void resetCommandTwistMsg();
     void state_callback(const geometry_msgs::msg::TwistStamped::SharedPtr _twist_msg);
   };
   }  // namespace ignition_platform
   
   #endif  // IGNITION_PLATFORM_HPP_