Class PositionMotion

Inheritance Relationships

Base Type

Class Documentation

class PositionMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler

The PositionMotion class is a motion reference handler that moves the robot to a given position.

Public Functions

explicit PositionMotion(as2::Node *node_ptr, const std::string &ns = "")

PositionMotion Constructor.

Parameters:

node – as2::Node pointer.

inline ~PositionMotion()
bool ownSendCommand()

ownSendCommand sends the pose and twist messages.

Returns:

true if commands was sent successfully, false otherwise.

bool sendPositionCommandWithYawAngle(const std::string &frame_id_pose, const float &x, const float &y, const float &z, const float &yaw_angle, const std::string &frame_id_twist, const float &vx, const float &vy, const float &vz)

sendPositionCommandWithYawAngle sends a position command to the robot. The yaw angle is given in radians. The linear velocity limitation is given in m/s. The position command and the velocity limitation are sent in the input frame id.

Parameters:

  • frame_id_pose – frame id of the position command.

  • x – x coordinate of the position command.

  • y – y coordinate of the position command.

  • z – z coordinate of the position command.

  • yaw_angle – yaw angle of the position command.

  • frame_id_twist – frame id of the velocity limitation.

  • vx – linear velocity limitation in x direction.

  • vy – linear velocity limitation in y direction.

  • vz – linear velocity limitation in z direction.

Returns:

true if the command was sent successfully, false otherwise.

bool sendPositionCommandWithYawAngle(const std::string &frame_id_pose, const float &x, const float &y, const float &z, const geometry_msgs::msg::Quaternion &q, const std::string &frame_id_twist, const float &vx, const float &vy, const float &vz)

sendPositionCommandWithYawAngle sends a position command to the robot. The yaw angle is given in a quaternion. The linear velocity is given in m/s. The position command and the velocity limitation are sent in the input frame id.

Parameters:

  • frame_id_pose – frame id of the position command.

  • x – x coordinate of the position command.

  • y – y coordinate of the position command.

  • z – z coordinate of the position command.

  • q – quaternion of the position command. (with the desired yaw angle).

  • frame_id_twist – frame id of the velocity limitation.

  • vx – linear velocity limitation in x direction.

  • vy – linear velocity limitation in y direction.

  • vz – linear velocity limitation in z direction.

Returns:

true if the command was sent successfully, false otherwise.

bool sendPositionCommandWithYawAngle(const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::TwistStamped &twist)

sendPositionCommandWithYawAngle sends a position command to the robot. The position command is sent in the frame id frame.

Parameters:

  • pose – geometry_msgs::msg::PoseStamped with the desired position and yaw angle.

  • twist – geometry_msgs::msg::TwistStamped with the desired linear velocity.

Returns:

true if the command was sent successfully, false otherwise.

bool sendPositionCommandWithYawSpeed(const std::string &frame_id_pose, const float &x, const float &y, const float &z, const float &yaw_speed, const std::string &frame_id_twist, const float &vx, const float &vy, const float &vz)

sendPositionCommandWithYawSpeed sends a position command to the robot. The yaw speed is given in rad/s. The linear velocity is given in m/s. The position command and the velocity limitation are sent in the input frame id.

Parameters:

  • frame_id_pose – frame id of the position command.

  • x – x coordinate of the position command.

  • y – y coordinate of the position command.

  • z – z coordinate of the position command.

  • yaw_speed – yaw speed of the position command.

  • frame_id_twist – frame id of the velocity limitation.

  • vx – linear velocity limitation in x direction.

  • vy – linear velocity limitation in y direction.

  • vz – linear velocity limitation in z direction.

Returns:

true if the command was sent successfully, false otherwise.

bool sendPositionCommandWithYawSpeed(const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::TwistStamped &twist)

sendPositionCommandWithYawSpeed sends a position command to the robot. The position command is sent in the frame id frame.

Parameters:

  • x – pose geometry_msgs::msg::PoseStamped with the desired position.

  • twist – geometry_msgs::msg::TwistStamped with the desired linear velocity and yaw speed.

Returns:

true if the command was sent successfully, false otherwise.