cb_spiral.cpp

Go to the documentation of this file.

// Copyright 2026 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Brett Aldrich
 *
 ******************************************************************************************************************/
 
#include <cl_px4_mr/client_behaviors/cb_spiral.hpp>
 
namespace cl_px4_mr
{
 
CbSpiral::CbSpiral(FlightPatternSpiralParams params, PathFollowerParams follower)
: CbPx4PathFollowerBase(follower), params_(params)
{
}
 
std::vector<NedPoint> CbSpiral::buildPath(const NedPoint & current)
{
  followerParams_.yawMode = YawMode::TANGENT;
  RCLCPP_INFO(
    getLogger(), "CbSpiral: %s %s, r %.1f -> %.1f m, spacing %.1f m, centre (%.1f, %.1f), ~%.0f m",
    turnName(params_.direction), params_.inward ? "inward" : "outward", params_.startRadius,
    params_.endRadius, params_.spacing, std::isnan(params_.centerX) ? current.x : params_.centerX,
    std::isnan(params_.centerY) ? current.y : params_.centerY, flightPatternSpiralLength(params_));
  return generateFlightPatternSpiral(params_, current);
}
 
}  // namespace cl_px4_mr