#include <cb_spiral_pattern.hpp>

Inheritance diagram for cl_px4_mr::CbSpiralPattern:

Collaboration diagram for cl_px4_mr::CbSpiralPattern:

Public Member Functions
	CbSpiralPattern (float centerX, float centerY, float altitude, float maxRadius=20.0f, float spacing=3.0f, float speed=2.0f)

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	maxRadius_

float	spacing_

float	speed_

float	theta_ = 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_spiral_pattern.hpp.

Constructor & Destructor Documentation

◆ CbSpiralPattern()

cl_px4_mr::CbSpiralPattern::CbSpiralPattern	(	float	centerX,
		float	centerY,
		float	altitude,
		float	maxRadius = 20.0f,
		float	spacing = 3.0f,
		float	speed = 2.0f )

Definition at line 22 of file cb_spiral_pattern.cpp.

: centerX_(centerX),
  centerY_(centerY),
  altitude_(altitude),
  maxRadius_(maxRadius),
  spacing_(spacing),
  speed_(speed)
{
}

Member Function Documentation

◆ onEntry()

void cl_px4_mr::CbSpiralPattern::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 33 of file cb_spiral_pattern.cpp.

{
  this->requiresComponent(trajectorySetpoint_);
  this->requiresComponent(localPosition_);
 
  theta_ = 0.0f;
  lastUpdateTime_ = std::chrono::steady_clock::now();
 
  // Initial position is the spiral center
  float z = -altitude_;  // NED: up is negative
 
  RCLCPP_INFO(
    getLogger(),
    "CbSpiralPattern: starting spiral center=[%.2f, %.2f] alt=%.2f maxR=%.2f spacing=%.2f "
    "speed=%.2f",
    centerX_, centerY_, altitude_, maxRadius_, spacing_, speed_);
 
  trajectorySetpoint_->setPositionNED(centerX_, centerY_, z, 0.0f);
}

References altitude_, centerX_, centerY_, smacc2::ISmaccClientBehavior::getLogger(), lastUpdateTime_, localPosition_, maxRadius_, smacc2::ISmaccClientBehavior::requiresComponent(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), spacing_, speed_, theta_, and trajectorySetpoint_.

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◆ onExit()

void cl_px4_mr::CbSpiralPattern::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 53 of file cb_spiral_pattern.cpp.

53{}

◆ update()

void cl_px4_mr::CbSpiralPattern::update ( )

overridevirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 55 of file cb_spiral_pattern.cpp.

{
  auto now = std::chrono::steady_clock::now();
  double dt = std::chrono::duration<double>(now - lastUpdateTime_).count();
  lastUpdateTime_ = now;
 
  // Archimedean spiral: r(theta) = a * theta
  // where a = spacing / (2*PI) so each revolution adds 'spacing' meters of radius
  float a = spacing_ / (2.0f * M_PI);
 
  // Current radius
  float r = a * theta_;
 
  // Adaptive angular velocity to maintain constant linear speed
  // Arc-length speed: ds/dt = sqrt(r^2 + a^2) * dtheta/dt
  // Solving for dtheta/dt: omega = speed / sqrt(r^2 + a^2)
  float omega = speed_ / std::sqrt(r * r + a * a);
 
  // Advance angle
  theta_ += omega * dt;
 
  // Compute new position
  float r_new = a * theta_;
  float x = centerX_ + r_new * std::cos(theta_);
  float y = centerY_ + r_new * std::sin(theta_);
  float z = -altitude_;  // NED
 
  // Yaw: face direction of travel (derivatives of Archimedean spiral)
  // dx/dtheta = a*cos(theta) - r*sin(theta)
  // dy/dtheta = a*sin(theta) + r*cos(theta)
  float dxdt = a * std::cos(theta_) - r_new * std::sin(theta_);
  float dydt = a * std::sin(theta_) + r_new * std::cos(theta_);
  float yaw = std::atan2(dydt, dxdt);
 
  trajectorySetpoint_->setPositionNED(x, y, z, yaw);
 
  // Check completion
  if (r_new >= maxRadius_)
  {
    RCLCPP_INFO(
      getLogger(), "CbSpiralPattern: max radius %.2f reached (r=%.2f) - posting success",
      maxRadius_, r_new);
    this->postSuccessEvent();
  }
}

References altitude_, centerX_, centerY_, smacc2::ISmaccClientBehavior::getLogger(), lastUpdateTime_, maxRadius_, smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), spacing_, speed_, theta_, and trajectorySetpoint_.

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Member Data Documentation

◆ altitude_

float cl_px4_mr::CbSpiralPattern::altitude_

private

Definition at line 41 of file cb_spiral_pattern.hpp.

Referenced by onEntry(), and update().

◆ centerX_

float cl_px4_mr::CbSpiralPattern::centerX_

private

Definition at line 39 of file cb_spiral_pattern.hpp.

Referenced by onEntry(), and update().

◆ centerY_

float cl_px4_mr::CbSpiralPattern::centerY_

private

Definition at line 40 of file cb_spiral_pattern.hpp.

Referenced by onEntry(), and update().

◆ lastUpdateTime_

std::chrono::steady_clock::time_point cl_px4_mr::CbSpiralPattern::lastUpdateTime_

private

Definition at line 47 of file cb_spiral_pattern.hpp.

Referenced by onEntry(), and update().

◆ localPosition_

CpVehicleLocalPosition* cl_px4_mr::CbSpiralPattern::localPosition_ = nullptr

private

Definition at line 50 of file cb_spiral_pattern.hpp.

Referenced by onEntry().

◆ maxRadius_

float cl_px4_mr::CbSpiralPattern::maxRadius_

private

Definition at line 42 of file cb_spiral_pattern.hpp.

Referenced by onEntry(), and update().

◆ spacing_

float cl_px4_mr::CbSpiralPattern::spacing_

private

Definition at line 43 of file cb_spiral_pattern.hpp.

Referenced by onEntry(), and update().

◆ speed_

float cl_px4_mr::CbSpiralPattern::speed_

private

Definition at line 44 of file cb_spiral_pattern.hpp.

Referenced by onEntry(), and update().

◆ theta_

float cl_px4_mr::CbSpiralPattern::theta_ = 0.0f

private

Definition at line 46 of file cb_spiral_pattern.hpp.

Referenced by onEntry(), and update().

◆ trajectorySetpoint_

CpTrajectorySetpoint* cl_px4_mr::CbSpiralPattern::trajectorySetpoint_ = nullptr

private

Definition at line 49 of file cb_spiral_pattern.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_spiral_pattern.hpp
smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_spiral_pattern.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbSpiralPattern()

Member Function Documentation

◆ onEntry()

◆ onExit()

◆ update()

Member Data Documentation

◆ altitude_

◆ centerX_

◆ centerY_

◆ lastUpdateTime_

◆ localPosition_

◆ maxRadius_

◆ spacing_

◆ speed_

◆ theta_

◆ trajectorySetpoint_