grvc::ual::UAL Class Reference

UAL replicates Backend interface, with some extras. More...

#include <ual.h>

Collaboration diagram for grvc::ual::UAL:

Public Member Functions
	UAL (int _argc, char **_argv)
bool	isReady () const
	Initialized and ready to run tasks?
bool	isIdle () const
	Idle?
Pose	pose () const
	Latest pose estimation of the robot.
Velocity	velocity () const
	Latest velocity estimation of the robot.
Odometry	odometry () const
	Latest odometry estimation of the robot.
Transform	transform () const
	Latest transform estimation of the robot.
uav_abstraction_layer::State	state ()
	Current robot state.
bool	setPose (const geometry_msgs::PoseStamped &_pose)
bool	goToWaypoint (const Waypoint &_wp, bool _blocking=true)
bool	goToWaypointGeo (const WaypointGeo &_wp, bool _blocking=true)
bool	takeOff (double _height, bool _blocking=true)
bool	land (bool _blocking=true)
bool	setVelocity (const Velocity &_vel)
bool	recoverFromManual ()
bool	setHome (bool set_z=false)
	Set home position (Needed to fix px4 local pose drift)

Protected Member Functions
void	init ()

Protected Attributes
Backend *	backend_
std::thread	running_thread_
std::thread	server_thread_
int	robot_id_
bool	id_is_unique_

Detailed Description

UAL replicates Backend interface, with some extras.

Member Function Documentation

bool grvc::ual::UAL::goToWaypoint	(	const Waypoint &	_wp,
		bool	_blocking = true
	)

Go to the specified waypoint, following a straight line

Parameters

_wp	goal waypoint
_blocking	indicates if function call is blocking (default = true)

bool grvc::ual::UAL::goToWaypointGeo	(	const WaypointGeo &	_wp,
		bool	_blocking = true
	)

Go to the specified waypoint in geographic coordinates, following a straight line

Parameters

_wp	goal waypoint in geographic coordinates
_blocking	indicates if function call is blocking (default = true)

bool grvc::ual::UAL::land

(

bool

_blocking = true

)

Land on the current position

Parameters

_blocking

indicates if function call is blocking (default = true)

bool grvc::ual::UAL::recoverFromManual

(

)

Recover from manual flight mode Use it when FLYING uav is switched to manual mode and want to go BACK to auto. Call is blocking by definition.

bool grvc::ual::UAL::setPose

(

const geometry_msgs::PoseStamped &

_pose

)

Set pose

Parameters

_pose

target pose

bool grvc::ual::UAL::setVelocity

(

const Velocity &

_vel

)

Set velocities

Parameters

_vel	target velocity in world coordinates

bool grvc::ual::UAL::takeOff	(	double	_height,
		bool	_blocking = true
	)

Perform a take off maneuver

Parameters

_height	target height that must be reached to consider the take off complete
_blocking	indicates if function call is blocking (default = true)

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The documentation for this class was generated from the following file:

• include/uav_abstraction_layer/ual.h