Ports

state (in)

Data structure

  • struct ::or_pose_estimator::state state

    • struct ::or::time::ts ts

      • unsigned long sec

      • unsigned long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[28]

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[21]

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

desired (out)

Data structure

  • struct ::or_pose_estimator::state desired

    • struct ::or::time::ts ts

      • unsigned long sec

      • unsigned long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[28]

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[21]

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

Services

set_bounds (function)

Inputs

  • double xmin

  • double xmax

  • double ymin

  • double ymax

  • double zmin

  • double zmax

  • double yawmin

  • double yawmax

set_velocity_limit (function)

Inputs

  • double v

  • double w
Throws

  • exception ::maneuver::e_limits

set_acceleration_limit (function)

Inputs

  • double a

  • double dw
Throws

  • exception ::maneuver::e_limits

set_jerk_limit (function)

Inputs

  • double j

  • double ddw
Throws

  • exception ::maneuver::e_limits

set_snap_limit (function)

Inputs

  • double s

  • double dddw
Throws

  • exception ::maneuver::e_limits

get_limits (function)

Outputs

  • double xmin

  • double xmax

  • double ymin

  • double ymax

  • double zmin

  • double zmax

  • double yawmin

  • double yawmax

  • double v

  • double w

  • double a

  • double dw

  • double j

  • double ddw

  • double s

  • double dddw

set_current_state (activity)

Throws

  • exception ::maneuver::e_nostate
Context

Set initial planning position to current one

take_off (activity)

Inputs

  • double height

  • double duration
Throws

  • exception ::maneuver::e_nostate

  • exception ::maneuver::e_limits
Context

Vertical take-off from current state

goto (activity)

Inputs

  • double x

  • double y

  • double z

  • double yaw

  • double duration
Throws

  • exception ::maneuver::e_nostate

  • exception ::maneuver::e_limits
Context

Reach a given position from current state

waypoint (activity)

Inputs

  • double x

  • double y

  • double z

  • double yaw

  • double vx

  • double vy

  • double vz

  • double wz

  • double ax

  • double ay

  • double az

  • double duration
Throws

  • exception ::maneuver::e_nostate

  • exception ::maneuver::e_limits
Context

Push a given position to reach after last one

velocity (function)

Inputs

  • double vx

  • double vy

  • double vz

  • double wz

  • double ax

  • double ay

  • double az

  • double duration
Throws

  • exception ::maneuver::e_nostate

  • exception ::maneuver::e_limits
Context

Reach a desired velocity within a given duration

replay (activity)

Inputs

  • string<128> filename (default "maneuver.log") Log file name
Throws

  • exception ::maneuver::e_nostate

  • exception ::maneuver::e_limits

  • exception ::maneuver::e_sys

    • short code

    • string<128> what
Context

Replay a trajectory log file

wait (activity)

Context

Wait until last waypoint/goto point is reached

stop (activity)

Context

Cancel any motion and set the desired state to empty

get_reference (attribute)

Outputs

  • struct ::maneuver::configuration_s reference

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

      • double qw

      • double qx

      • double qy

      • double qz

    • double vel[6]

    • double acc[6]

    • double jer[6]

log (function)

Inputs

  • string<64> path (default "/tmp/maneuver.log") Log file name

  • unsigned long decimation (default "1") Reduced logging frequency
Throws

  • exception ::maneuver::e_sys

    • short code

    • string<128> what

Log state

log_stop (function)

Stop logging

log_info (function)

Outputs

  • unsigned long miss Missed log entries

  • unsigned long total Total log entries

Show missed log entries

Tasks

plan

Context

  • Free running

exec

Context