Trajectory plugin to receive planned path from the FCU and send back to the FCU a corrected path (collision free, smoothed) More...
Inheritance diagram for mavros::extra_plugins::TrajectoryPlugin:
Public Member Functions | |
| Subscriptions | get_subscriptions () override |
| void | initialize (UAS &uas_) override |
| TrajectoryPlugin () | |
 Public Member Functions inherited from mavros::plugin::PluginBase | |
| virtual | ~PluginBase () |
Private Member Functions | |
| void | fill_msg_acceleration (geometry_msgs::Vector3 &acceleration, const mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &t, const size_t i) |
| void | fill_msg_position (geometry_msgs::Point &position, const mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &t, const size_t i) |
| void | fill_msg_velocity (geometry_msgs::Vector3 &velocity, const mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &t, const size_t i) |
| void | fill_points_acceleration (MavPoints &x, MavPoints &y, MavPoints &z, const geometry_msgs::Vector3 &acceleration, const size_t i) |
| void | fill_points_all_unused (mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &t, const size_t i) |
| void | fill_points_all_unused_bezier (mavlink::common::msg::TRAJECTORY_REPRESENTATION_BEZIER &t, const size_t i) |
| void | fill_points_delta (MavPoints &y, const double time_horizon, const size_t i) |
| void | fill_points_position (MavPoints &x, MavPoints &y, MavPoints &z, const geometry_msgs::Point &position, const size_t i) |
| auto | fill_points_unused_path (mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &t, const size_t i) |
| void | fill_points_velocity (MavPoints &x, MavPoints &y, MavPoints &z, const geometry_msgs::Vector3 &velocity, const size_t i) |
| void | fill_points_yaw_q (MavPoints &y, const geometry_msgs::Quaternion &orientation, const size_t i) |
| void | fill_points_yaw_speed (MavPoints &yv, const double yaw_speed, const size_t i) |
| void | fill_points_yaw_wp (MavPoints &y, const double yaw, const size_t i) |
| void | handle_trajectory (const mavlink::mavlink_message_t *msg, mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS &trajectory) |
| void | path_cb (const nav_msgs::Path::ConstPtr &req) |
| Send corrected path to the FCU. More... | |
| void | trajectory_cb (const mavros_msgs::Trajectory::ConstPtr &req) |
| Send corrected path to the FCU. More... | |
| float | wrap_pi (float a) |
Private Attributes | |
| ros::Subscriber | path_sub |
| ros::Publisher | trajectory_desired_pub |
| ros::Subscriber | trajectory_generated_sub |
| ros::NodeHandle | trajectory_nh |
Additional Inherited Members | |
| Public Types inherited from mavros::plugin::PluginBase | |
| typedef boost::shared_ptr< PluginBase const > | ConstPtr |
| typedef mavconn::MAVConnInterface::ReceivedCb | HandlerCb |
| typedef std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb > | HandlerInfo |
| typedef boost::shared_ptr< PluginBase > | Ptr |
| typedef std::vector< HandlerInfo > | Subscriptions |
| Protected Member Functions inherited from mavros::plugin::PluginBase | |
| virtual void | capabilities_cb (UAS::MAV_CAP capabilities) |
| virtual void | connection_cb (bool connected) |
| void | enable_capabilities_cb () |
| void | enable_connection_cb () |
| HandlerInfo | make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing)) |
| HandlerInfo | make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &)) |
| PluginBase () | |
| Protected Attributes inherited from mavros::plugin::PluginBase | |
| UAS * | m_uas |
Detailed Description
Trajectory plugin to receive planned path from the FCU and send back to the FCU a corrected path (collision free, smoothed)
- See also
- trajectory_cb()
Definition at line 40 of file trajectory.cpp.
The documentation for this class was generated from the following file: