Public Member Functions | Private Member Functions | Private Attributes
testsetup::OffboardControl Class Reference

#include <offboard_control.h>

List of all members.

Public Member Functions

void init ()
 OffboardControl ()
void spin (int argc, char *argv[])

Private Member Functions

void circle_path_motion (ros::Rate loop_rate, control_mode mode)
 Circle path motion routine.
Eigen::Vector3d circle_shape (int angle)
 Defines circle path.
void eight_path_motion (ros::Rate loop_rate, control_mode mode)
 Eight path motion routine.
Eigen::Vector3d eight_shape (int angle)
 Defines Gerono lemniscate path.
void ellipse_path_motion (ros::Rate loop_rate, control_mode mode)
 Ellipse path motion routine.
Eigen::Vector3d ellipse_shape (int angle)
 Defines ellipse path.
void local_pos_cb (const geometry_msgs::PoseStampedConstPtr &msg)
Eigen::Vector3d pos_setpoint (int tr_x, int tr_y, int tr_z)
 Defines single position setpoint.
void square_path_motion (ros::Rate loop_rate, control_mode mode)
 Square path motion routine.
std::array< double, 100 > threshold_definition ()
 Gaussian noise generator for accepted position threshold.
void wait_and_move (geometry_msgs::PoseStamped target)
 Defines the accepted threshold to the destination/target position before moving to the next setpoint.

Private Attributes

Eigen::Vector3d current
double linvel_d_gain
double linvel_i_gain
double linvel_i_max
double linvel_i_min
double linvel_p_gain
ros::Publisher local_pos_sp_pub
ros::Subscriber local_pos_sub
geometry_msgs::PoseStamped localpos
control_mode mode
ros::NodeHandle nh_sp
int num_of_tests
pidcontroller::PIDController pid
geometry_msgs::PoseStamped ps
double rate
path_shape shape
TestSetup test
std::array< double, 100 > threshold
bool use_pid
ros::Publisher vel_sp_pub
geometry_msgs::TwistStamped vs
double yawrate_d_gain
double yawrate_i_gain
double yawrate_i_max
double yawrate_i_min
double yawrate_p_gain

Detailed Description

Definition at line 49 of file offboard_control.h.


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


test_mavros
Author(s): Nuno Marques , Vladimir Ermakov
autogenerated on Sat Jun 8 2019 19:55:31