RelativePoseController Class Reference

A pose controller that keeps a pose relative to some feedback pose. More...

#include <relative_pose_controller.h>

Inheritance diagram for RelativePoseController:

Collaboration diagram for RelativePoseController:

Public Member Functions
	RelativePoseController (PoseControllerConfig config)
	Constructor. More...
virtual	~RelativePoseController ()
	Destructor. More...
Public Member Functions inherited from Controller< std::tuple< tf::Transform, tf::Transform >, tf::Transform, tf::Transform >
virtual bool	run (std::tuple< tf::Transform, tf::Transform >sensor_data, tf::Transform &control)
	Run the control loop and return control arguments. More...
ControllerStatus	isConverged (std::tuple< tf::Transform, tf::Transform >sensor_data)
	Check if controller is converged. More...
virtual void	setGoal (tf::Transformgoal)
	set the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread More...
virtual tf::Transform	getGoal () const
	get the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread More...
virtual	~Controller ()
	Destructor. More...

Protected Member Functions
virtual bool	runImplementation (std::tuple< tf::Transform, tf::Transform > sensor_data, tf::Transform goal, tf::Transform &control)
	Run the control loop. Uses a pose controller to keep a desired pose relative to a tracked pose. More...
virtual ControllerStatus	isConvergedImplementation (std::tuple< tf::Transform, tf::Transform > sensor_data, tf::Transform goal)
	Check if controller converged. More...

Detailed Description

A pose controller that keeps a pose relative to some feedback pose.

Constructor & Destructor Documentation

RelativePoseController::RelativePoseController ( PoseControllerConfig  config )

inline

Constructor.

virtual RelativePoseController::~RelativePoseController ( )

inlinevirtual

Destructor.

Member Function Documentation

ControllerStatus RelativePoseController::isConvergedImplementation ( std::tuple< tf::Transform, tf::Transform >  sensor_data, tf::Transform  goal  )

protectedvirtual

Check if controller converged.

Parameters

sensor_data	Current control pose and tracked pose
goal	Goal relative pose in tracked pose frame

Returns

controller status that contains an enum and debug information.

Implements Controller< std::tuple< tf::Transform, tf::Transform >, tf::Transform, tf::Transform >.

bool RelativePoseController::runImplementation ( std::tuple< tf::Transform, tf::Transform >  sensor_data, tf::Transform  goal, tf::Transform &  control  )

protectedvirtual

Run the control loop. Uses a pose controller to keep a desired pose relative to a tracked pose.

Parameters

sensor_data	Pose of controlled point and pose of tracked pose
goal	Goal relative pose in tracked pose frame
control	Pose command

Returns

True if controller is successful in running

Implements Controller< std::tuple< tf::Transform, tf::Transform >, tf::Transform, tf::Transform >.

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

• include/aerial_autonomy/controllers/relative_pose_controller.h
• src/controllers/relative_pose_controller.cpp