#include <cb_sine_wave_vertical.hpp>

Inheritance diagram for cl_px4_mr::CbSineWaveVertical:

Collaboration diagram for cl_px4_mr::CbSineWaveVertical:

Public Member Functions
	CbSineWaveVertical (FlightPatternSineWaveVerticalParams params={}, PathFollowerParams follower={})

void	setParams (const FlightPatternSineWaveVerticalParams &params)

const FlightPatternSineWaveVerticalParams &	params () const

void	setEndPoint (float x, float y)

Public Member Functions inherited from cl_px4_mr::CbPx4PathFollowerBase
	CbPx4PathFollowerBase (PathFollowerParams params={})

virtual	~CbPx4PathFollowerBase ()

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 &current) 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

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
FlightPatternSineWaveVerticalParams	params_

Additional Inherited Members
Protected Attributes inherited from cl_px4_mr::CbPx4PathFollowerBase
PathFollowerParams	followerParams_

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 32 of file cb_sine_wave_vertical.hpp.

Constructor & Destructor Documentation

◆ CbSineWaveVertical()

cl_px4_mr::CbSineWaveVertical::CbSineWaveVertical	(	FlightPatternSineWaveVerticalParams	params = {},
		PathFollowerParams	follower = {} )

explicit

Definition at line 26 of file cb_sine_wave_vertical.cpp.

: CbPx4PathFollowerBase(follower), params_(params)
{
}

Member Function Documentation

◆ behaviorName()

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

inlineoverrideprotectedvirtual

Reimplemented from cl_px4_mr::CbPx4PathFollowerBase.

Definition at line 48 of file cb_sine_wave_vertical.hpp.

48{ return "CbSineWaveVertical"; }

◆ buildPath()

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

overrideprotectedvirtual

Implements cl_px4_mr::CbPx4PathFollowerBase.

Definition at line 32 of file cb_sine_wave_vertical.cpp.

{
  followerParams_.yawMode = YawMode::TANGENT;
  followerParams_.prependCurrentPosition = false;  // path starts at the entry point
 
  const float peakVerticalSpeed = params_.amplitude * 2.0f * static_cast<float>(M_PI) *
                                  followerParams_.groundSpeed / std::max(params_.wavelength, 0.1f);
  if (peakVerticalSpeed > 2.0f)
  {
    RCLCPP_WARN(
      getLogger(),
      "CbSineWaveVertical: peak vertical speed %.2f m/s exceeds typical PX4 limits - the flown "
      "sine will flatten",
      peakVerticalSpeed);
  }
  RCLCPP_INFO(
    getLogger(), "CbSineWaveVertical: to (%.1f, %.1f), A=%.1f m, lambda=%.1f m", params_.endX,
    params_.endY, params_.amplitude, params_.wavelength);
  return generateFlightPatternSineWaveVertical(params_, current);
}

References cl_px4_mr::FlightPatternSineWaveVerticalParams::amplitude, cl_px4_mr::FlightPatternSineWaveVerticalParams::endX, cl_px4_mr::FlightPatternSineWaveVerticalParams::endY, cl_px4_mr::CbPx4PathFollowerBase::followerParams_, cl_px4_mr::generateFlightPatternSineWaveVertical(), smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::PathFollowerParams::groundSpeed, params_, cl_px4_mr::PathFollowerParams::prependCurrentPosition, cl_px4_mr::TANGENT, cl_px4_mr::FlightPatternSineWaveVerticalParams::wavelength, and cl_px4_mr::PathFollowerParams::yawMode.

Here is the call graph for this function:

◆ params()

const FlightPatternSineWaveVerticalParams & cl_px4_mr::CbSineWaveVertical::params ( ) const

inline

Definition at line 39 of file cb_sine_wave_vertical.hpp.

39{ return params_; }

References params_.

Referenced by setParams().

Here is the caller graph for this function:

◆ setEndPoint()

void cl_px4_mr::CbSineWaveVertical::setEndPoint	(	float	x,
		float	y )

inline

Definition at line 40 of file cb_sine_wave_vertical.hpp.

  {
    params_.endX = x;
    params_.endY = y;
  }

References cl_px4_mr::FlightPatternSineWaveVerticalParams::endX, cl_px4_mr::FlightPatternSineWaveVerticalParams::endY, and params_.

◆ setParams()

void cl_px4_mr::CbSineWaveVertical::setParams ( const FlightPatternSineWaveVerticalParams & params )

inline

Definition at line 38 of file cb_sine_wave_vertical.hpp.

38{ params_ = params; }

References params(), and params_.

Here is the call graph for this function:

Member Data Documentation

◆ params_

FlightPatternSineWaveVerticalParams cl_px4_mr::CbSineWaveVertical::params_

private

Definition at line 51 of file cb_sine_wave_vertical.hpp.

Referenced by buildPath(), params(), setEndPoint(), and setParams().

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

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbSineWaveVertical()

Member Function Documentation

◆ behaviorName()

◆ buildPath()

◆ params()

◆ setEndPoint()

◆ setParams()

Member Data Documentation

◆ params_