maneuver component
- Ports
- Services
- set_bounds (function)
- set_velocity_limit (function)
- set_acceleration_limit (function)
- set_jerk_limit (function)
- set_snap_limit (function)
- get_limits (function)
- set_state (function)
- set_current_state (activity)
- take_off (activity)
- goto (activity)
- waypoint (activity)
- velocity (function)
- replay (activity)
- wait (activity)
- stop (activity)
- get_reference (attribute)
- set_horizon (activity)
- log (function)
- log_stop (function)
- log_info (function)
- Tasks
Ports
state (in)
Data structure
|
desired (out)
Data structure
|
horizon (out)
Data structure
|
Moving horizon of the current motion.
See set_horizon (activity) to configure this port.
Services
set_bounds (function)
Inputs
|
get_limits (function)
Outputs
|
set_current_state (activity)
Throws
|
Context
|
Set initial planning position to current one
take_off (activity)
Inputs
|
Throws
|
Context
|
Vertical take-off from current state
goto (activity)
Inputs
|
Throws
|
Context
|
Reach a given position from current state
waypoint (activity)
Inputs
|
Throws
|
Context
|
Push a given position to reach after last one
velocity (function)
Inputs
|
Throws
|
Context
|
Reach a desired velocity within a given duration
replay (activity)
Inputs
|
Throws
|
Context
|
Replay a trajectory log file
stop (activity)
Throws
|
Context
|
Cancel any motion and bring the velocity to zero
get_reference (attribute)
Outputs
|
set_horizon (activity)
Inputs
|
Outputs
|
Throws
|
Context
|
Set sampling rate and duration of horizon port
This service activates the publication of the horizon
port.
The input parameters are adapted to match the internal
sampling rate of trajectories, but are guaranteed to be at
least as big as requested. The actual values are returned as
output parameters
Passing 0 as the number of samples uses the internal
sampling rate. Passing 0 for both duration and number of
samples disables publishing of the horizon
port.
Tasks
exec
Context
|