Inheritance diagram for grvc::ual::BackendLight:

Collaboration diagram for grvc::ual::BackendLight:

Public Member Functions
bool	isReady () const override
	Backend is initialized and ready to run tasks?

virtual Pose	pose () override
	Latest pose estimation of the robot.

virtual Velocity	velocity () const override
	Latest velocity estimation of the robot.

virtual Odometry	odometry () const override
	Latest odometry estimation of the robot.

virtual Transform	transform () const override
	Latest transform estimation of the robot.

void	setPose (const geometry_msgs::PoseStamped &_pose) override

void	goToWaypoint (const Waypoint &_wp) override

void	goToWaypointGeo (const WaypointGeo &_wp) override

void	takeOff (double _height) override

void	land () override
	Land on the current position.

void	setVelocity (const Velocity &_vel) override

void	recoverFromManual () override

void	setHome (bool set_z) override
	Set home position.

Public Member Functions inherited from grvc::ual::Backend
template<typename Callable , typename... Args>
bool	threadSafeCall (Callable &&_fn, Args &&..._args)
	Wrap a Backend function to make it thread-safe.

	Backend ()
	Constructor inits node.

bool	isIdle ()
	Is it idle?

State	state ()
	Current robot state.

void	abort (bool _freeze=true)
	Cancel execution of the current task.

Additional Inherited Members
Public Types inherited from grvc::ual::Backend
enum	State { UNINITIALIZED, LANDED_DISARMED, LANDED_ARMED, TAKING_OFF, FLYING_AUTO, FLYING_MANUAL, LANDING }
	Possible backend states.

Static Public Member Functions inherited from grvc::ual::Backend
static Backend *	createBackend ()
	Create an adequate Backend depending on current platform and command arguments. More...

Protected Attributes inherited from grvc::ual::Backend
std::atomic< bool >	abort_ = {false}

std::atomic< bool >	freeze_ = {false}

std::mutex	running_mutex_

std::atomic< bool >	running_task_ = {false}

std::thread	spin_thread_

std::atomic< State >	state_ = {UNINITIALIZED}