Public Member Functions | Private Member Functions | Private Attributes | List of all members
testsetup::OffboardControl Class Reference

#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
 

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 Tue Jun 1 2021 02:36:42