Maps Joystick goals to rpythrust commands to quadrotor. More...

Inheritance diagram for ManualRPYTControllerDroneConnector:

Collaboration diagram for ManualRPYTControllerDroneConnector:

Public Member Functions
	ManualRPYTControllerDroneConnector (parsernode::Parser &drone_hardware, Controller< JoysticksYaw, EmptyGoal, RollPitchYawThrust > &controller)
	Constructor. More...

Public Member Functions inherited from ControllerHardwareConnector< JoysticksYaw, EmptyGoal, RollPitchYawThrust >
	ControllerHardwareConnector (Controller< JoysticksYaw, EmptyGoal, RollPitchYawThrust > &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 (EmptyGoalgoal)
	Set the goal for controller. More...

EmptyGoal	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 (JoysticksYaw &sensor_data)
	Extracts joystick commands and current yaw from hardware. More...

virtual void	sendHardwareCommands (RollPitchYawThrust controls)
	Send RPYT commands to hardware. More...

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

Detailed Description

Maps Joystick goals to rpythrust commands to quadrotor.

Constructor & Destructor Documentation

ManualRPYTControllerDroneConnector::ManualRPYTControllerDroneConnector	(	parsernode::Parser &	drone_hardware,
		Controller< JoysticksYaw, EmptyGoal, RollPitchYawThrust > &	controller
	)

inline

Constructor.

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

Parameters

drone_hardware	Drone hardware used to send commands
controller	RpyThrust controller

bool ManualRPYTControllerDroneConnector::extractSensorData ( JoysticksYaw & sensor_data )

protectedvirtual

Extracts joystick commands and current yaw from hardware.

Parameters

sensor_data Joystick commands and current yaw

void ManualRPYTControllerDroneConnector::sendHardwareCommands ( RollPitchYawThrust controls )

protectedvirtual

Send RPYT commands to hardware.

Parameters

controls RPYT command to send to drone

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

include/aerial_autonomy/controller_hardware_connectors/manual_rpyt_controller_drone_connector.h
src/controller_hardware_connectors/manual_rpyt_controller_drone_connector.cpp