#include <cb_orbit_location.hpp>

Inheritance diagram for cl_px4_mr::CbOrbitLocation:

Collaboration diagram for cl_px4_mr::CbOrbitLocation:

Public Member Functions
	CbOrbitLocation (float centerX, float centerY, float altitude, float radius=5.0f, float angularVelocity=0.5f, int numOrbits=3)

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	radius_

float	angularVelocity_

int	numOrbits_

float	currentAngle_ = 0.0f

float	startAngle_ = 0.0f

std::chrono::steady_clock::time_point	lastUpdateTime_

CpTrajectorySetpoint *	trajectorySetpoint_ = nullptr

CpVehicleLocalPosition *	localPosition_ = 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 27 of file cb_orbit_location.hpp.

Constructor & Destructor Documentation

◆ CbOrbitLocation()

cl_px4_mr::CbOrbitLocation::CbOrbitLocation	(	float	centerX,
		float	centerY,
		float	altitude,
		float	radius = 5.0f,
		float	angularVelocity = 0.5f,
		int	numOrbits = 3 )

Definition at line 22 of file cb_orbit_location.cpp.

: centerX_(centerX),
  centerY_(centerY),
  altitude_(altitude),
  radius_(radius),
  angularVelocity_(angularVelocity),
  numOrbits_(numOrbits)
{
}

Member Function Documentation

◆ onEntry()

void cl_px4_mr::CbOrbitLocation::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 33 of file cb_orbit_location.cpp.

{
  this->requiresComponent(trajectorySetpoint_);
  this->requiresComponent(localPosition_);
 
  // Compute starting angle from current position relative to center
  float dx = localPosition_->getX() - centerX_;
  float dy = localPosition_->getY() - centerY_;
  startAngle_ = std::atan2(dy, dx);
  currentAngle_ = startAngle_;
  lastUpdateTime_ = std::chrono::steady_clock::now();
 
  // Command initial orbit position
  float x = centerX_ + radius_ * std::cos(currentAngle_);
  float y = centerY_ + radius_ * std::sin(currentAngle_);
  float z = -altitude_;              // NED: up is negative
  float yaw = currentAngle_ + M_PI;  // Face toward center
 
  RCLCPP_INFO(
    getLogger(), "CbOrbitLocation: starting orbit center=[%.2f, %.2f] r=%.2f alt=%.2f orbits=%d",
    centerX_, centerY_, radius_, altitude_, numOrbits_);
 
  trajectorySetpoint_->setPositionNED(x, y, z, yaw);
}

References altitude_, centerX_, centerY_, currentAngle_, smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CpVehicleLocalPosition::getX(), cl_px4_mr::CpVehicleLocalPosition::getY(), lastUpdateTime_, localPosition_, numOrbits_, radius_, smacc2::ISmaccClientBehavior::requiresComponent(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), startAngle_, and trajectorySetpoint_.

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◆ onExit()

void cl_px4_mr::CbOrbitLocation::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 58 of file cb_orbit_location.cpp.

58{}

◆ update()

void cl_px4_mr::CbOrbitLocation::update ( )

overridevirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 60 of file cb_orbit_location.cpp.

{
  auto now = std::chrono::steady_clock::now();
  double dt = std::chrono::duration<double>(now - lastUpdateTime_).count();
  lastUpdateTime_ = now;
 
  // Advance angle
  currentAngle_ += angularVelocity_ * dt;
 
  // Compute new position on circle
  float x = centerX_ + radius_ * std::cos(currentAngle_);
  float y = centerY_ + radius_ * std::sin(currentAngle_);
  float z = -altitude_;              // NED
  float yaw = currentAngle_ + M_PI;  // Face toward center
 
  trajectorySetpoint_->setPositionNED(x, y, z, yaw);
 
  // Check if we've completed the required number of orbits
  float totalAngle = currentAngle_ - startAngle_;
  float requiredAngle = numOrbits_ * 2.0f * M_PI;
 
  if (totalAngle >= requiredAngle)
  {
    RCLCPP_INFO(getLogger(), "CbOrbitLocation: %d orbits completed - posting success", numOrbits_);
    this->postSuccessEvent();
  }
}

References altitude_, angularVelocity_, centerX_, centerY_, currentAngle_, smacc2::ISmaccClientBehavior::getLogger(), lastUpdateTime_, numOrbits_, smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), radius_, cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), startAngle_, and trajectorySetpoint_.

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Member Data Documentation

◆ altitude_

float cl_px4_mr::CbOrbitLocation::altitude_

private

Definition at line 41 of file cb_orbit_location.hpp.

Referenced by onEntry(), and update().

◆ angularVelocity_

float cl_px4_mr::CbOrbitLocation::angularVelocity_

private

Definition at line 43 of file cb_orbit_location.hpp.

Referenced by update().

◆ centerX_

float cl_px4_mr::CbOrbitLocation::centerX_

private

Definition at line 39 of file cb_orbit_location.hpp.

Referenced by onEntry(), and update().

◆ centerY_

float cl_px4_mr::CbOrbitLocation::centerY_

private

Definition at line 40 of file cb_orbit_location.hpp.

Referenced by onEntry(), and update().

◆ currentAngle_

float cl_px4_mr::CbOrbitLocation::currentAngle_ = 0.0f

private

Definition at line 46 of file cb_orbit_location.hpp.

Referenced by onEntry(), and update().

◆ lastUpdateTime_

std::chrono::steady_clock::time_point cl_px4_mr::CbOrbitLocation::lastUpdateTime_

private

Definition at line 48 of file cb_orbit_location.hpp.

Referenced by onEntry(), and update().

◆ localPosition_

CpVehicleLocalPosition* cl_px4_mr::CbOrbitLocation::localPosition_ = nullptr

private

Definition at line 51 of file cb_orbit_location.hpp.

Referenced by onEntry().

◆ numOrbits_

int cl_px4_mr::CbOrbitLocation::numOrbits_

private

Definition at line 44 of file cb_orbit_location.hpp.

Referenced by onEntry(), and update().

◆ radius_

float cl_px4_mr::CbOrbitLocation::radius_

private

Definition at line 42 of file cb_orbit_location.hpp.

Referenced by onEntry(), and update().

◆ startAngle_

float cl_px4_mr::CbOrbitLocation::startAngle_ = 0.0f

private

Definition at line 47 of file cb_orbit_location.hpp.

Referenced by onEntry(), and update().

◆ trajectorySetpoint_

CpTrajectorySetpoint* cl_px4_mr::CbOrbitLocation::trajectorySetpoint_ = nullptr

private

Definition at line 50 of file cb_orbit_location.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_orbit_location.hpp
smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_orbit_location.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbOrbitLocation()

Member Function Documentation

◆ onEntry()

◆ onExit()

◆ update()

Member Data Documentation

◆ altitude_

◆ angularVelocity_

◆ centerX_

◆ centerY_

◆ currentAngle_

◆ lastUpdateTime_

◆ localPosition_

◆ numOrbits_

◆ radius_

◆ startAngle_

◆ trajectorySetpoint_