SITL test node implementation. More...

Classes
class	testsetup::OffboardControl
class	sitltest::SitlTest
	SITL test node class. More...
class	testsetup::TestSetup
Namespaces
namespace	sitltest
namespace	testsetup
Enumerations
enum	testsetup::control_mode { testsetup::POSITION, testsetup::VELOCITY, testsetup::ACCELERATION }
	Offboard controller tester. More...
enum	testsetup::path_shape { testsetup::SQUARE, testsetup::CIRCLE, testsetup::EIGHT, testsetup::ELLIPSE }
Functions
void	testsetup::OffboardControl::circle_path_motion (ros::Rate loop_rate, control_mode mode)
	Circle path motion routine.
Eigen::Vector3d	testsetup::OffboardControl::circle_shape (int angle)
	Defines circle path.
void	testsetup::OffboardControl::eight_path_motion (ros::Rate loop_rate, control_mode mode)
	Eight path motion routine.
Eigen::Vector3d	testsetup::OffboardControl::eight_shape (int angle)
	Defines Gerono lemniscate path.
void	testsetup::OffboardControl::ellipse_path_motion (ros::Rate loop_rate, control_mode mode)
	Ellipse path motion routine.
Eigen::Vector3d	testsetup::OffboardControl::ellipse_shape (int angle)
	Defines ellipse path.
void	testsetup::OffboardControl::init ()
void	testsetup::OffboardControl::local_pos_cb (const geometry_msgs::PoseStampedConstPtr &msg)
	testsetup::OffboardControl::OffboardControl ()
Eigen::Vector3d	testsetup::OffboardControl::pos_setpoint (int tr_x, int tr_y, int tr_z)
	Defines single position setpoint.
void	testsetup::TestSetup::setup (const ros::NodeHandle &nh)
	sitltest::SitlTest::SitlTest ()
static void	sitltest::SitlTest::spin (int argc, char *argv[])
void	testsetup::OffboardControl::spin (int argc, char *argv[])
void	testsetup::OffboardControl::square_path_motion (ros::Rate loop_rate, control_mode mode)
	Square path motion routine.
	testsetup::TestSetup::TestSetup ()
std::array< double, 100 >	testsetup::OffboardControl::threshold_definition ()
	Gaussian noise generator for accepted position threshold.
void	testsetup::OffboardControl::wait_and_move (geometry_msgs::PoseStamped target)
	Defines the accepted threshold to the destination/target position before moving to the next setpoint.
	sitltest::SitlTest::~SitlTest ()
	testsetup::TestSetup::~TestSetup ()
Variables
Eigen::Vector3d	testsetup::OffboardControl::current
double	testsetup::OffboardControl::linvel_d_gain
double	testsetup::OffboardControl::linvel_i_gain
double	testsetup::OffboardControl::linvel_i_max
double	testsetup::OffboardControl::linvel_i_min
double	testsetup::OffboardControl::linvel_p_gain
ros::Publisher	testsetup::OffboardControl::local_pos_sp_pub
ros::Subscriber	testsetup::OffboardControl::local_pos_sub
geometry_msgs::PoseStamped	testsetup::OffboardControl::localpos
control_mode	testsetup::OffboardControl::mode
ros::NodeHandle	testsetup::TestSetup::nh
ros::NodeHandle	testsetup::OffboardControl::nh_sp
int	testsetup::TestSetup::num_of_tests
int	testsetup::OffboardControl::num_of_tests
pidcontroller::PIDController	testsetup::OffboardControl::pid
geometry_msgs::PoseStamped	testsetup::OffboardControl::ps
double	testsetup::TestSetup::rate
double	testsetup::OffboardControl::rate
path_shape	testsetup::OffboardControl::shape
TestSetup	testsetup::OffboardControl::test
std::array< double, 100 >	testsetup::OffboardControl::threshold
bool	testsetup::TestSetup::use_pid
bool	testsetup::OffboardControl::use_pid
ros::Publisher	testsetup::OffboardControl::vel_sp_pub
geometry_msgs::TwistStamped	testsetup::OffboardControl::vs
double	testsetup::OffboardControl::yawrate_d_gain
double	testsetup::OffboardControl::yawrate_i_gain
double	testsetup::OffboardControl::yawrate_i_max
double	testsetup::OffboardControl::yawrate_i_min
double	testsetup::OffboardControl::yawrate_p_gain

Detailed Description

SITL test node implementation.

SITL tests setup.

Enumeration Type Documentation

enum testsetup::control_mode

Offboard controller tester.

Tests offboard position, velocity and acceleration control

Enumerator:

POSITION
VELOCITY
ACCELERATION

Definition at line 36 of file offboard_control.h.

enum testsetup::path_shape

Enumerator:

SQUARE
CIRCLE
EIGHT
ELLIPSE

Definition at line 42 of file offboard_control.h.

Function Documentation

void testsetup::OffboardControl::circle_path_motion	(	ros::Rate	loop_rate,
		control_mode	mode
	)		`[inline, private]`

Circle path motion routine.

Definition at line 312 of file offboard_control.h.

Eigen::Vector3d testsetup::OffboardControl::circle_shape ( int angle ) [inline, private]

Defines circle path.

Todo:: Give possibility to user define amplitude of movement (circle radius)

Definition at line 230 of file offboard_control.h.

void testsetup::OffboardControl::eight_path_motion	(	ros::Rate	loop_rate,
		control_mode	mode
	)		`[inline, private]`

Eight path motion routine.

Definition at line 372 of file offboard_control.h.

Eigen::Vector3d testsetup::OffboardControl::eight_shape ( int angle ) [inline, private]

Defines Gerono lemniscate path.

Todo:: Give possibility to user define amplitude of movement (vertical tangent size)

Definition at line 242 of file offboard_control.h.

void testsetup::OffboardControl::ellipse_path_motion	(	ros::Rate	loop_rate,
		control_mode	mode
	)		`[inline, private]`

Ellipse path motion routine.

Definition at line 432 of file offboard_control.h.

Eigen::Vector3d testsetup::OffboardControl::ellipse_shape ( int angle ) [inline, private]

Defines ellipse path.

Todo:: Give possibility to user define amplitude of movement (tangent sizes)

Definition at line 254 of file offboard_control.h.

void testsetup::OffboardControl::init ( ) [inline]

Setup of the test conditions

Note:: some of these are based on values defaulted @ https://bitbucket.org/enddl22/ardrone_side_project/ tweaks to them so to get a better velocity response are welcomed!

Setpoint control mode selector

Available modes: