Public Member Functions | Private Types | Private Member Functions | Private Attributes | Friends | List of all members
mavros::std_plugins::SetpointTrajectoryPlugin Class Reference

Setpoint TRAJECTORY plugin. More...

Inheritance diagram for mavros::std_plugins::SetpointTrajectoryPlugin:
Inheritance graph
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Public Member Functions

Subscriptions get_subscriptions () override
 Return vector of MAVLink message subscriptions (handlers) More...
 
void initialize (UAS &uas_) override
 Plugin initializer. More...
 
 SetpointTrajectoryPlugin ()
 
- Public Member Functions inherited from mavros::plugin::PluginBase
virtual ~PluginBase ()
 

Private Types

using lock_guard = std::lock_guard< std::mutex >
 

Private Member Functions

void local_cb (const trajectory_msgs::MultiDOFJointTrajectory::ConstPtr &req)
 
void publish_path (const trajectory_msgs::MultiDOFJointTrajectory::ConstPtr &req)
 
void reference_cb (const ros::TimerEvent &event)
 
bool reset_cb (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 
void reset_timer (ros::Duration duration)
 
bool set_mav_frame_cb (mavros_msgs::SetMavFrame::Request &req, mavros_msgs::SetMavFrame::Response &res)
 
- Private Member Functions inherited from mavros::plugin::SetPositionTargetLocalNEDMixin< SetpointTrajectoryPlugin >
void set_position_target_local_ned (uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, Eigen::Vector3d p, Eigen::Vector3d v, Eigen::Vector3d af, float yaw, float yaw_rate)
 Message specification: https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED. More...
 

Private Attributes

ros::Publisher desired_pub
 
std::string frame_id
 
ros::Subscriber local_sub
 
MAV_FRAME mav_frame
 
ros::ServiceServer mav_frame_srv
 
std::mutex mutex
 
std::vector< trajectory_msgs::MultiDOFJointTrajectoryPoint >::const_iterator next_setpoint_target
 
std::vector< trajectory_msgs::MultiDOFJointTrajectoryPoint >::const_iterator setpoint_target
 
ros::NodeHandle sp_nh
 
ros::Timer sp_timer
 
ros::ServiceServer trajectory_reset_srv
 
trajectory_msgs::MultiDOFJointTrajectory::ConstPtr trajectory_target_msg
 
ftf::StaticTF transform
 

Friends

class SetPositionTargetLocalNEDMixin
 

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 capabilities_cb (UAS::MAV_CAP capabilities)
 
virtual void connection_cb (bool connected)
 
void enable_capabilities_cb ()
 
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
UASm_uas
 

Detailed Description

Setpoint TRAJECTORY plugin.

Receive trajectory setpoints and send setpoint_raw setpoints along the trajectory.

Definition at line 37 of file setpoint_trajectory.cpp.


The documentation for this class was generated from the following file:


mavros
Author(s): Vladimir Ermakov
autogenerated on Tue Jun 1 2021 02:36:27