cl_px4_mr::CbFollowNedPath Class Reference

#include <cb_follow_ned_path.hpp>

Inheritance diagram for cl_px4_mr::CbFollowNedPath:

Collaboration diagram for cl_px4_mr::CbFollowNedPath:

Public Member Functions
	CbFollowNedPath (std::vector< NedPoint > path={}, PathFollowerParams follower={})
void	setPath (std::vector< NedPoint > path)
const std::vector< NedPoint > &	path () const
size_t	reachedCount () const
Public Member Functions inherited from cl_px4_mr::CbPx4PathFollowerBase
	CbPx4PathFollowerBase (PathFollowerParams params={})
virtual	~CbPx4PathFollowerBase ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
void	setFollowerParams (const PathFollowerParams &params)
const PathFollowerParams &	followerParams () const
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
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)

Protected Member Functions
std::vector< NedPoint >	buildPath (const NedPoint &) override
const char *	behaviorName () const override
Protected Member Functions inherited from cl_px4_mr::CbPx4PathFollowerBase
virtual void	onPathStarted (const std::vector< NedPoint > &)
virtual void	onPathCompleted ()
float	totalLength () const
float	progressFraction () const
size_t	carrotVertexIndex () const
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

Private Attributes
std::vector< NedPoint >	path_

Additional Inherited Members
Protected Attributes inherited from cl_px4_mr::CbPx4PathFollowerBase
PathFollowerParams	followerParams_
CpTunnelCentering *	tunnelCentering_ = nullptr
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 40 of file cb_follow_ned_path.hpp.

Constructor & Destructor Documentation

CbFollowNedPath()

cl_px4_mr::CbFollowNedPath::CbFollowNedPath ( std::vector< NedPoint > path = {}, PathFollowerParams follower = {} )

explicit

Definition at line 28 of file cb_follow_ned_path.cpp.

: CbPx4PathFollowerBase(follower), path_(std::move(path))
{
}

Member Function Documentation

behaviorName()

const char * cl_px4_mr::CbFollowNedPath::behaviorName ( ) const

inlineoverrideprotectedvirtual

Reimplemented from cl_px4_mr::CbPx4PathFollowerBase.

Definition at line 54 of file cb_follow_ned_path.hpp.

{ return "CbFollowNedPath"; }

buildPath()

std::vector< NedPoint > cl_px4_mr::CbFollowNedPath::buildPath ( const NedPoint & )

inlineoverrideprotectedvirtual

Implements cl_px4_mr::CbPx4PathFollowerBase.

Definition at line 53 of file cb_follow_ned_path.hpp.

{ return path_; }

References path_.

path()

const std::vector< NedPoint > & cl_px4_mr::CbFollowNedPath::path ( ) const

inline

Definition at line 46 of file cb_follow_ned_path.hpp.

{ return path_; }

References path_.

Referenced by setPath().

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reachedCount()

size_t cl_px4_mr::CbFollowNedPath::reachedCount

(

)

const

Definition at line 50 of file cb_follow_ned_path.cpp.

{
  if (path_.empty())
  {
    return 0;
  }
  const size_t idx = carrotVertexIndex();
  // with the entry position prepended, followed vertex i is route vertex i-1
  const size_t reached = followerParams_.prependCurrentPosition ? idx : idx + 1;
  return std::min(reached, path_.size());
}

References cl_px4_mr::CbPx4PathFollowerBase::carrotVertexIndex(), cl_px4_mr::CbPx4PathFollowerBase::followerParams_, path_, and cl_px4_mr::PathFollowerParams::prependCurrentPosition.

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setPath()

void cl_px4_mr::CbFollowNedPath::setPath

(

std::vector< NedPoint >

path

)

Definition at line 33 of file cb_follow_ned_path.cpp.

{
  path_ = std::move(path);
  // the base drops degenerate segments, which would shift reachedCount()
  for (size_t i = 1; i < path_.size(); ++i)
  {
    if (nedDistance(path_[i - 1], path_[i]) < followerParams_.minSegmentLength)
    {
      RCLCPP_WARN(
        getLogger(),
        "CbFollowNedPath: vertices %zu and %zu are closer than minSegmentLength (%.2f m) - the "
        "follower will merge them and reachedCount() will be off by one from there on",
        i - 1, i, followerParams_.minSegmentLength);
    }
  }
}

References cl_px4_mr::CbPx4PathFollowerBase::followerParams_, smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::PathFollowerParams::minSegmentLength, cl_px4_mr::nedDistance(), path(), and path_.

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Member Data Documentation

path_

std::vector<NedPoint> cl_px4_mr::CbFollowNedPath::path_

private

Definition at line 57 of file cb_follow_ned_path.hpp.

Referenced by buildPath(), path(), reachedCount(), and setPath().

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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_follow_ned_path.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_follow_ned_path.cpp