Class PointGimbalBehavior

• Defined in File point_gimbal_behavior.hpp

Inheritance Relationships

Base Type

• public as2_behavior::BehaviorServer< as2_msgs::action::PointGimbal > (Template Class BehaviorServer)

Class Documentation

class PointGimbalBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::PointGimbal>

Public Functions

explicit PointGimbalBehavior(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

virtual ~PointGimbalBehavior() = default

Protected Functions

bool on_activate(std::shared_ptr<const as2_msgs::action::PointGimbal::Goal> goal) override

bool on_modify(std::shared_ptr<const as2_msgs::action::PointGimbal::Goal> goal) override

virtual bool on_deactivate(const std::shared_ptr<std::string> &message) override

virtual bool on_pause(const std::shared_ptr<std::string> &message) override

virtual bool on_resume(const std::shared_ptr<std::string> &message) override

as2_behavior::ExecutionStatus on_run(const std::shared_ptr<const as2_msgs::action::PointGimbal::Goal> &goal, std::shared_ptr<as2_msgs::action::PointGimbal::Feedback> &feedback_msg, std::shared_ptr<as2_msgs::action::PointGimbal::Result> &result_msg) override

virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override

bool check_gimbal_limits(const double roll, const double pitch, const double yaw)

bool update_gimbal_state()

bool point_check_finished()

bool move_check_finished(as2_msgs::msg::GimbalControl target, geometry_msgs::msg::Vector3Stamped current)