Manages communication between a drone plugin and a velocity controller that outputs velocity commands. More...

Inheritance diagram for BuiltInVelocityControllerDroneConnector:

Collaboration diagram for BuiltInVelocityControllerDroneConnector:

Public Member Functions
	BuiltInVelocityControllerDroneConnector (parsernode::Parser &drone_hardware, Controller< VelocityYaw, VelocityYaw, VelocityYaw > &controller)
	Constructor. More...

Public Member Functions inherited from ControllerHardwareConnector< VelocityYaw, VelocityYaw, VelocityYaw >
	ControllerHardwareConnector (Controller< VelocityYaw, VelocityYaw, VelocityYaw > &controller, HardwareType hardware_type)
	ControlHardwareConnector runs the controller and sends the commands to hardware. More...

virtual void	run ()
	Extracts sensor data, run controller and send data back to hardware. More...

void	setGoal (VelocityYawgoal)
	Set the goal for controller. More...

VelocityYaw	getGoal () const
	Get the goal for controller. More...

HardwareType	getHardwareType ()
	Return the type of hardware (HardwareType) used by the controller. More...

ControllerStatus	getStatus () const
	Provide the status of the controller. More...

Public Member Functions inherited from AbstractControllerHardwareConnector
virtual	~AbstractControllerHardwareConnector ()
	Destructor to get polymorphism. More...

Protected Member Functions
virtual bool	extractSensorData (VelocityYaw &sensor_data)
	does not extract any data since nothing is needed More...

virtual void	sendHardwareCommands (VelocityYaw controls)
	Send velocity commands to hardware. More...

Additional Inherited Members
Protected Attributes inherited from ControllerHardwareConnector< VelocityYaw, VelocityYaw, VelocityYaw >
HardwareType	hardware_type_
	Type of hardware controlled by the controller. More...

Detailed Description

Manages communication between a drone plugin and a velocity controller that outputs velocity commands.

Constructor & Destructor Documentation

BuiltInVelocityControllerDroneConnector::BuiltInVelocityControllerDroneConnector	(	parsernode::Parser &	drone_hardware,
		Controller< VelocityYaw, VelocityYaw, VelocityYaw > &	controller
	)

inline

Constructor.

Store drone hardware with hardware type as UAV. Uses parsernode::Parser::cmdvelguided function.

Parameters

drone_hardware	Drone hardware used to send commands
controller	Velocity controller that achieves a desired velocity, yaw

bool BuiltInVelocityControllerDroneConnector::extractSensorData ( VelocityYaw & sensor_data )

protectedvirtual

does not extract any data since nothing is needed

Parameters

sensor_data current velocity and yaw of UAV

void BuiltInVelocityControllerDroneConnector::sendHardwareCommands ( VelocityYaw controls )

protectedvirtual

Send velocity commands to hardware.

Parameters

controls velocity command to send to UAV

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