Setpoint attitude plugin. More...
Inheritance diagram for mavros::std_plugins::SetpointAttitudePlugin:
Public Member Functions | |
| Subscriptions | get_subscriptions () |
| Return vector of MAVLink message subscriptions (handlers) More... | |
| void | initialize (UAS &uas_) |
| Plugin initializer. More... | |
| SetpointAttitudePlugin () | |
 Public Member Functions inherited from mavros::plugin::PluginBase | |
| virtual | ~PluginBase () |
Private Member Functions | |
| void | attitude_pose_cb (const geometry_msgs::PoseStamped::ConstPtr &pose_msg, const mavros_msgs::Thrust::ConstPtr &thrust_msg) |
| void | attitude_twist_cb (const geometry_msgs::TwistStamped::ConstPtr &req, const mavros_msgs::Thrust::ConstPtr &thrust_msg) |
| bool | is_normalized (float thrust) |
| Function to verify if the thrust values are normalized; considers also the reversed trust values. More... | |
| void | send_attitude_ang_velocity (const ros::Time &stamp, const Eigen::Vector3d &ang_vel, const float thrust) |
| Send angular velocity setpoint and thrust to FCU attitude controller. More... | |
| void | send_attitude_quaternion (const ros::Time &stamp, const Eigen::Affine3d &tr, const float thrust) |
| Send attitude setpoint and thrust to FCU attitude controller. More... | |
| void | transform_cb (const geometry_msgs::TransformStamped &transform, const mavros_msgs::Thrust::ConstPtr &thrust_msg) |
| Private Member Functions inherited from mavros::plugin::SetAttitudeTargetMixin< SetpointAttitudePlugin > | |
| void | set_attitude_target (uint32_t time_boot_ms, uint8_t type_mask, Eigen::Quaterniond orientation, Eigen::Vector3d body_rate, float thrust) |
Message sepecification: https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET. More... | |
| Private Member Functions inherited from mavros::plugin::TF2ListenerMixin< SetpointAttitudePlugin > | |
| void | tf2_start (const char *_thd_name, void(SetpointAttitudePlugin::*cbp)(const geometry_msgs::TransformStamped &)) |
| start tf listener More... | |
| void | tf2_start (const char *_thd_name, message_filters::Subscriber< T > &topic_sub, void(SetpointAttitudePlugin::*cbp)(const geometry_msgs::TransformStamped &, const typename T::ConstPtr &)) |
| start tf listener syncronized with another topic More... | |
Private Attributes | |
| float | normalized_thrust |
| message_filters::Subscriber< geometry_msgs::PoseStamped > | pose_sub |
| bool | reverse_thrust |
| ros::NodeHandle | sp_nh |
| std::unique_ptr< SyncPoseThrust > | sync_pose |
| std::unique_ptr< SyncTwistThrust > | sync_twist |
| std::string | tf_child_frame_id |
| std::string | tf_frame_id |
| bool | tf_listen |
| double | tf_rate |
| message_filters::Subscriber< mavros_msgs::Thrust > | th_sub |
| message_filters::Subscriber< geometry_msgs::TwistStamped > | twist_sub |
| bool | use_quaternion |
| Private Attributes inherited from mavros::plugin::TF2ListenerMixin< SetpointAttitudePlugin > | |
| std::string | tf_thd_name |
| std::thread | tf_thread |
Friends | |
| class | SetAttitudeTargetMixin |
| class | TF2ListenerMixin |
Additional Inherited Members | |
| Public Types inherited from mavros::plugin::PluginBase | |
| using | ConstPtr = boost::shared_ptr< PluginBase const > |
| using | HandlerCb = mavconn::MAVConnInterface::ReceivedCb |
| generic message handler callback More... | |
| using | HandlerInfo = std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb > |
| Tuple: MSG ID, MSG NAME, message type into hash_code, message handler callback. More... | |
| using | Ptr = boost::shared_ptr< PluginBase > |
| using | Subscriptions = std::vector< HandlerInfo > |
| Subscriptions vector. More... | |
| Protected Member Functions inherited from mavros::plugin::PluginBase | |
| virtual void | connection_cb (bool connected) |
| void | enable_connection_cb () |
| template<class _C > | |
| HandlerInfo | make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing)) |
| template<class _C , class _T > | |
| HandlerInfo | make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &)) |
| PluginBase () | |
| Plugin constructor Should not do anything before initialize() More... | |
| Protected Attributes inherited from mavros::plugin::PluginBase | |
| UAS * | m_uas |
Detailed Description
Setpoint attitude plugin.
Send setpoint attitude/orientation/thrust to FCU controller.
Definition at line 43 of file setpoint_attitude.cpp.
The documentation for this class was generated from the following file: