#include <offboard_control.h>
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. More... | |
| Eigen::Vector3d | circle_shape (int angle) |
| Defines circle path. More... | |
| void | eight_path_motion (ros::Rate loop_rate, control_mode mode) |
| Eight path motion routine. More... | |
| Eigen::Vector3d | eight_shape (int angle) |
| Defines Gerono lemniscate path. More... | |
| void | ellipse_path_motion (ros::Rate loop_rate, control_mode mode) |
| Ellipse path motion routine. More... | |
| Eigen::Vector3d | ellipse_shape (int angle) |
| Defines ellipse path. More... | |
| 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. More... | |
| void | square_path_motion (ros::Rate loop_rate, control_mode mode) |
| Square path motion routine. More... | |
| std::array< double, 100 > | threshold_definition () |
| Gaussian noise generator for accepted position threshold. More... | |
| void | wait_and_move (geometry_msgs::PoseStamped target) |
| Defines the accepted threshold to the destination/target position before moving to the next setpoint. More... | |
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 |
Definition at line 49 of file offboard_control.h.