#include <cb_figure_eight.hpp>

Inheritance diagram for cl_px4_mr::CbFigureEight:

Collaboration diagram for cl_px4_mr::CbFigureEight:

Public Member Functions
	CbFigureEight (float centerX, float centerY, float altitude, float size=5.0f, float speed=0.5f, int numLoops=1)

void	setCenter (float centerX, float centerY)

void	setHeading (float headingRad)

void	onEntry () override

void	onExit () override

void	update () override

Public Member Functions inherited from cl_px4_mr::CbPx4ClientBehaviorBase
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual	~CbPx4ClientBehaviorBase ()

void	setTimeout (std::chrono::milliseconds timeout)

bool	hasTimeout () const

void	update () override

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallback callback, T *object)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallbackMethod callback, T *object)

Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()

virtual	~ISmaccClientBehavior ()

ISmaccStateMachine *	getStateMachine ()

std::string	getName () const

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

template<typename SmaccComponentType >
void	requiresComponent (std::string name, SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

Public Member Functions inherited from smacc2::ISmaccUpdatable
	ISmaccUpdatable ()

	ISmaccUpdatable (rclcpp::Duration duration)

void	executeUpdate (rclcpp::Node::SharedPtr node)

void	setUpdatePeriod (rclcpp::Duration duration)

Private Attributes
float	centerX_

float	centerY_

float	altitude_

float	size_

float	speed_

int	numLoops_

float	heading_ = 0.0f

float	t_ = 0.0f

std::chrono::steady_clock::time_point	lastUpdateTime_

Additional Inherited Members
Protected Member Functions inherited from cl_px4_mr::CbPx4ClientBehaviorBase
virtual void	wireCompletionSignals ()

void	postPx4Success ()

void	postPx4Failure ()

Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

bool	isShutdownRequested ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.

Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

ISmaccState *	getCurrentState ()

virtual rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

Protected Member Functions inherited from smacc2::ISmaccUpdatable
Protected Attributes inherited from cl_px4_mr::CbPx4ClientBehaviorBase
CpVehicleCommand *	vehicleCommand_ = nullptr

CpVehicleStatus *	vehicleStatus_ = nullptr

CpTrajectorySetpoint *	trajectorySetpoint_ = nullptr

CpGoalChecker *	goalChecker_ = nullptr

CpVehicleLocalPosition *	localPosition_ = nullptr

CpOffboardKeepAlive *	offboardKeepAlive_ = nullptr

Detailed Description

Definition at line 27 of file cb_figure_eight.hpp.

Constructor & Destructor Documentation

◆ CbFigureEight()

cl_px4_mr::CbFigureEight::CbFigureEight	(	float	centerX,
		float	centerY,
		float	altitude,
		float	size = 5.0f,
		float	speed = 0.5f,
		int	numLoops = 1 )

Definition at line 21 of file cb_figure_eight.cpp.

: centerX_(centerX),
  centerY_(centerY),
  altitude_(altitude),
  size_(size),
  speed_(speed),
  numLoops_(numLoops)
{
}

Member Function Documentation

◆ onEntry()

void cl_px4_mr::CbFigureEight::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 32 of file cb_figure_eight.cpp.

{
  t_ = 0.0f;
  lastUpdateTime_ = std::chrono::steady_clock::now();
 
  // Command initial position (t=0: x=size, y=0 relative to center, rotated by heading_)
  float x = centerX_ + size_ * std::cos(heading_);
  float y = centerY_ + size_ * std::sin(heading_);
  float z = -altitude_;  // NED
 
  RCLCPP_INFO(
    getLogger(),
    "CbFigureEight: starting figure-8 center=[%.2f, %.2f] alt=%.2f size=%.2f axis=%.2f rad "
    "loops=%d",
    centerX_, centerY_, altitude_, size_, heading_, numLoops_);
 
  trajectorySetpoint_->setPositionNED(x, y, z, heading_);
}

References altitude_, centerX_, centerY_, smacc2::ISmaccClientBehavior::getLogger(), heading_, lastUpdateTime_, numLoops_, cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), size_, t_, and cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_.

Here is the call graph for this function:

◆ onExit()

void cl_px4_mr::CbFigureEight::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 51 of file cb_figure_eight.cpp.

51{}

◆ setCenter()

void cl_px4_mr::CbFigureEight::setCenter	(	float	centerX,
		float	centerY )

inline

Definition at line 36 of file cb_figure_eight.hpp.

  {
    centerX_ = centerX;
    centerY_ = centerY;
  }

References centerX_, and centerY_.

◆ setHeading()

void cl_px4_mr::CbFigureEight::setHeading ( float headingRad )

inline

Definition at line 42 of file cb_figure_eight.hpp.

42{ heading_ = headingRad; }

References heading_.

◆ update()

void cl_px4_mr::CbFigureEight::update ( )

overridevirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 53 of file cb_figure_eight.cpp.

{
  CbPx4ClientBehaviorBase::update();
 
  auto now = std::chrono::steady_clock::now();
  double dt = std::chrono::duration<double>(now - lastUpdateTime_).count();
  lastUpdateTime_ = now;
 
  t_ += speed_ * dt;
 
  // Lemniscate of Bernoulli parametric equations
  float sinT = std::sin(t_);
  float cosT = std::cos(t_);
  float denom = 1.0f + sinT * sinT;
 
  float localX = size_ * cosT / denom;
  float localY = size_ * sinT * cosT / denom;
 
  // rotate the lemniscate so its lobe axis lies along heading_
  const float ch = std::cos(heading_);
  const float sh = std::sin(heading_);
  float x = centerX_ + localX * ch - localY * sh;
  float y = centerY_ + localX * sh + localY * ch;
  float z = -altitude_;  // NED
 
  // Compute derivatives for yaw (face direction of travel)
  float sinT2 = sinT * sinT;
  float cosT2 = cosT * cosT;
  float denom2 = denom * denom;
  float dxdt = size_ * (-sinT * (1.0f + sinT2) - cosT * 2.0f * sinT * cosT) / denom2;
  float dydt =
    size_ * ((cosT2 - sinT2) * (1.0f + sinT2) - sinT * cosT * 2.0f * sinT * cosT) / denom2;
  float yaw = std::atan2(dydt, dxdt) + heading_;
 
  trajectorySetpoint_->setPositionNED(x, y, z, yaw);
 
  // Check completion
  float requiredT = numLoops_ * 2.0f * M_PI;
  if (t_ >= requiredT)
  {
    RCLCPP_INFO(getLogger(), "CbFigureEight: %d loops completed - posting success", numLoops_);
    this->postPx4Success();
  }
}

References altitude_, centerX_, centerY_, smacc2::ISmaccClientBehavior::getLogger(), heading_, lastUpdateTime_, numLoops_, cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Success(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), size_, speed_, t_, cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_, and cl_px4_mr::CbPx4ClientBehaviorBase::update().

Here is the call graph for this function:

Member Data Documentation

◆ altitude_

float cl_px4_mr::CbFigureEight::altitude_

private

Definition at line 51 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

◆ centerX_

float cl_px4_mr::CbFigureEight::centerX_

private

Definition at line 49 of file cb_figure_eight.hpp.

Referenced by onEntry(), setCenter(), and update().

◆ centerY_

float cl_px4_mr::CbFigureEight::centerY_

private

Definition at line 50 of file cb_figure_eight.hpp.

Referenced by onEntry(), setCenter(), and update().

◆ heading_

float cl_px4_mr::CbFigureEight::heading_ = 0.0f

private

Definition at line 55 of file cb_figure_eight.hpp.

Referenced by onEntry(), setHeading(), and update().

◆ lastUpdateTime_

std::chrono::steady_clock::time_point cl_px4_mr::CbFigureEight::lastUpdateTime_

private

Definition at line 58 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

◆ numLoops_

int cl_px4_mr::CbFigureEight::numLoops_

private

Definition at line 54 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

◆ size_

float cl_px4_mr::CbFigureEight::size_

private

Definition at line 52 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

◆ speed_

float cl_px4_mr::CbFigureEight::speed_

private

Definition at line 53 of file cb_figure_eight.hpp.

Referenced by update().

◆ t_

float cl_px4_mr::CbFigureEight::t_ = 0.0f

private

Definition at line 57 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

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

smacc2_client_library/cl_px4_mr/include/cl_px4_mr/client_behaviors/cb_figure_eight.hpp
smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_figure_eight.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbFigureEight()

Member Function Documentation

◆ onEntry()

◆ onExit()

◆ setCenter()

◆ setHeading()

◆ update()

Member Data Documentation

◆ altitude_

◆ centerX_

◆ centerY_

◆ heading_

◆ lastUpdateTime_

◆ numLoops_

◆ size_

◆ speed_

◆ t_