cl_px4_mr::CbYawRotate Class Reference

#include <cb_yaw_rotate.hpp>

Inheritance diagram for cl_px4_mr::CbYawRotate:

Collaboration diagram for cl_px4_mr::CbYawRotate:

Public Member Functions
	CbYawRotate (float targetYawRad, bool relative=false)
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	targetYawRad_
bool	relative_
float	absoluteTargetYaw_ = 0.0f
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 26 of file cb_yaw_rotate.hpp.

Constructor & Destructor Documentation

CbYawRotate()

cl_px4_mr::CbYawRotate::CbYawRotate	(	float	targetYawRad,
		bool	relative = false )

Definition at line 22 of file cb_yaw_rotate.cpp.

: targetYawRad_(targetYawRad), relative_(relative)
{
}

Member Function Documentation

onEntry()

void cl_px4_mr::CbYawRotate::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 27 of file cb_yaw_rotate.cpp.

{
  this->requiresComponent(trajectorySetpoint_);
  this->requiresComponent(localPosition_);
 
  float currentYaw = localPosition_->getHeading();
 
  if (relative_)
  {
    absoluteTargetYaw_ = currentYaw + targetYawRad_;
  }
  else
  {
    absoluteTargetYaw_ = targetYawRad_;
  }
 
  // Normalize to [-PI, PI]
  absoluteTargetYaw_ = std::atan2(std::sin(absoluteTargetYaw_), std::cos(absoluteTargetYaw_));
 
  float curX = localPosition_->getX();
  float curY = localPosition_->getY();
  float curZ = localPosition_->getZ();
 
  RCLCPP_INFO(
    getLogger(), "CbYawRotate: rotating from %.2f to %.2f rad (relative=%d)", currentYaw,
    absoluteTargetYaw_, relative_);
 
  trajectorySetpoint_->setPositionNED(curX, curY, curZ, absoluteTargetYaw_);
}

References absoluteTargetYaw_, cl_px4_mr::CpVehicleLocalPosition::getHeading(), smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CpVehicleLocalPosition::getX(), cl_px4_mr::CpVehicleLocalPosition::getY(), cl_px4_mr::CpVehicleLocalPosition::getZ(), localPosition_, relative_, smacc2::ISmaccClientBehavior::requiresComponent(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), targetYawRad_, and trajectorySetpoint_.

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onExit()

void cl_px4_mr::CbYawRotate::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 57 of file cb_yaw_rotate.cpp.

{}

update()

void cl_px4_mr::CbYawRotate::update ( )

overridevirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 59 of file cb_yaw_rotate.cpp.

{
  float currentYaw = localPosition_->getHeading();
 
  // Compute shortest angular distance
  float diff = absoluteTargetYaw_ - currentYaw;
  diff = std::atan2(std::sin(diff), std::cos(diff));
 
  if (std::abs(diff) < 0.1f)
  {
    RCLCPP_INFO(
      getLogger(), "CbYawRotate: target yaw reached (error=%.3f rad) - posting success",
      std::abs(diff));
    this->postSuccessEvent();
  }
}

References absoluteTargetYaw_, cl_px4_mr::CpVehicleLocalPosition::getHeading(), smacc2::ISmaccClientBehavior::getLogger(), localPosition_, and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

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Member Data Documentation

absoluteTargetYaw_

float cl_px4_mr::CbYawRotate::absoluteTargetYaw_ = 0.0f

private

Definition at line 38 of file cb_yaw_rotate.hpp.

Referenced by onEntry(), and update().

localPosition_

CpVehicleLocalPosition* cl_px4_mr::CbYawRotate::localPosition_ = nullptr

private

Definition at line 41 of file cb_yaw_rotate.hpp.

Referenced by onEntry(), and update().

relative_

bool cl_px4_mr::CbYawRotate::relative_

private

Definition at line 37 of file cb_yaw_rotate.hpp.

Referenced by onEntry().

targetYawRad_

float cl_px4_mr::CbYawRotate::targetYawRad_

private

Definition at line 36 of file cb_yaw_rotate.hpp.

Referenced by onEntry().

trajectorySetpoint_

CpTrajectorySetpoint* cl_px4_mr::CbYawRotate::trajectorySetpoint_ = nullptr

private

Definition at line 40 of file cb_yaw_rotate.hpp.

Referenced by onEntry().

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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_yaw_rotate.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_yaw_rotate.cpp