cl_px4_mr::CbFigureEight Class Reference

#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	onEntry () override
void	onExit () override
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)
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	t_ = 0.0f
std::chrono::steady_clock::time_point	lastUpdateTime_
CpTrajectorySetpoint *	trajectorySetpoint_ = nullptr

Additional Inherited Members
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

Detailed Description

Definition at line 26 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.

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

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

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onExit()

void cl_px4_mr::CbFigureEight::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 51 of file cb_figure_eight.cpp.

{}

update()

void cl_px4_mr::CbFigureEight::update ( )

overridevirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 53 of file cb_figure_eight.cpp.

{
  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;
 
  float x = centerX_ + localX;
  float y = centerY_ + localY;
  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);
 
  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->postSuccessEvent();
  }
}

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

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Member Data Documentation

altitude_

float cl_px4_mr::CbFigureEight::altitude_

private

Definition at line 40 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

centerX_

float cl_px4_mr::CbFigureEight::centerX_

private

Definition at line 38 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

centerY_

float cl_px4_mr::CbFigureEight::centerY_

private

Definition at line 39 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

lastUpdateTime_

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

private

Definition at line 46 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

numLoops_

int cl_px4_mr::CbFigureEight::numLoops_

private

Definition at line 43 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

size_

float cl_px4_mr::CbFigureEight::size_

private

Definition at line 41 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

speed_

float cl_px4_mr::CbFigureEight::speed_

private

Definition at line 42 of file cb_figure_eight.hpp.

Referenced by update().

t_

float cl_px4_mr::CbFigureEight::t_ = 0.0f

private

Definition at line 45 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

trajectorySetpoint_

CpTrajectorySetpoint* cl_px4_mr::CbFigureEight::trajectorySetpoint_ = nullptr

private

Definition at line 48 of file cb_figure_eight.hpp.

Referenced by onEntry(), and update().

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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