Project

General

Profile

maneuver component

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

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

      • double qw

      • double qx

      • double qy

      • double qz

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

      • double vx

      • double vy

      • double vz

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

      • double wx

      • double wy

      • double wz

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

      • double ax

      • double ay

      • double az

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

      • double awx

      • double awy

      • double awz

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

      • double cov[6]

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

      • double cov[10]

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

      • double cov[12]

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

      • double cov[6]

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

      • double cov[6]

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

      • double cov[6]

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

      • double cov[6]


desired (out)

Data structure
  • struct ::or_rigid_body::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

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

      • double qw

      • double qx

      • double qy

      • double qz

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

      • double vx

      • double vy

      • double vz

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

      • double wx

      • double wy

      • double wz

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

      • double ax

      • double ay

      • double az

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

      • double awx

      • double awy

      • double awz

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

      • double jx

      • double jy

      • double jz

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

      • double sx

      • double sy

      • double sz


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_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 ::or_rigid_body::state reference

    • 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

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

      • double qw

      • double qx

      • double qy

      • double qz

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

      • double vx

      • double vy

      • double vz

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

      • double wx

      • double wy

      • double wz

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

      • double ax

      • double ay

      • double az

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

      • double awx

      • double awy

      • double awz

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

      • double jx

      • double jy

      • double jz

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

      • double sx

      • double sy

      • double sz


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