An example UAV hardware that emulates actual UAV hardware. More...

#include <sample_parser.h>

Inheritance diagram for SampleParser:

Collaboration diagram for SampleParser:

Public Member Functions
	SampleParser ()
	Implict constructor. More...

void	setRC (int16_t channels[4])
	set the rc channel information stored in the UAV brain More...

virtual bool	takeoff ()
	Takeoff. More...

virtual bool	land ()
	Land. More...

virtual bool	disarm ()
	Turn off motor. More...

virtual bool	flowControl (bool)
	Toggle software control. More...

virtual bool	calibrateimubias ()
	Recalibrate IMU. More...

virtual bool	cmdrpythrust (geometry_msgs::Quaternion &rpytmsg, bool sendyaw=false)
	Command the euler angles of the quad and the thrust. More...

virtual bool	cmdvelguided (geometry_msgs::Vector3 &vel_cmd, double &yaw_ang)
	Command velocity and yaw to UAV. More...

virtual bool	cmdwaypoint (geometry_msgs::Vector3 &desired_pos, double desired_yaw=0)
	Command position yaw for UAV. More...

virtual void	grip (int state)
	Toggle gripper. More...

virtual void	reset_attitude (double roll, double pitch, double yaw)
	Set the attitude data to specified roll, pitch, yaw (rad) More...

virtual void	setmode (std::string mode)
	Set UAV controller mode such position controlling, rpyt etc. More...

virtual void	initialize (ros::NodeHandle &nh_)
	Initialize the Hardware with a ros node handle to setup communications. More...

virtual void	getquaddata (parsernode::common::quaddata &d1)
	Get the sensor data and UAV state. More...

virtual	~SampleParser ()
	Polymorphic destructor. More...

virtual void	setBatteryPercent (double percent)
	Set the battery percent sensor data. More...

virtual void	setaltitude (double altitude_)
	set the altitude or local z height data(m) More...

virtual void	setlogdir (string logdir)
	Create log directory and create log files. More...

virtual void	controllog (bool logswitch)
	Toggle logging. More...

Detailed Description

An example UAV hardware that emulates actual UAV hardware.

Constructor & Destructor Documentation

SampleParser::SampleParser ( )

inline

Implict constructor.

virtual SampleParser::~SampleParser ( )

inlinevirtual

Polymorphic destructor.

Member Function Documentation

virtual bool SampleParser::calibrateimubias ( )

inlinevirtual

Recalibrate IMU.

Returns: true if calibration successful

virtual bool SampleParser::cmdrpythrust	(	geometry_msgs::Quaternion &	rpytmsg,
		bool	sendyaw = `false`
	)

inlinevirtual

Command the euler angles of the quad and the thrust.

Parameters

rpytmsg	Msg format is (x,y,z,w) -> (roll, pitch, yaw, thrust). The thrust value will be adjusted based on whethere there is thrust bias or not.
sendyaw	True to control the yaw/ False to ignore yaw command

Returns: True if sending command is successful

virtual bool SampleParser::cmdvelguided	(	geometry_msgs::Vector3 &	vel_cmd,
		double &	yaw_ang
	)

inlinevirtual

Command velocity and yaw to UAV.

Parameters

vel_cmd	Velocity vector (m/s)
yaw_ang	Yaw angle (rad)

Returns: True if sending command is successful

virtual bool SampleParser::cmdwaypoint	(	geometry_msgs::Vector3 &	desired_pos,
		double	desired_yaw = `0`
	)

inlinevirtual

Command position yaw for UAV.

Parameters

desired_pos	Desired 3D position (m)
desired_yaw	Desired yaw angle (rad)

Returns: True if sending command is successful

virtual void SampleParser::controllog ( bool logswitch )

inlinevirtual

Toggle logging.

Parameters

logswitch True to start logging/False to stop logging

virtual bool SampleParser::disarm ( )

inlinevirtual

Turn off motor.

Returns: True if disabling is successful

virtual bool SampleParser::flowControl ( bool )

inlinevirtual

Toggle software control.

Returns: True if successful

virtual void SampleParser::getquaddata ( parsernode::common::quaddata & d1 )

inlinevirtual

Get the sensor data and UAV state.

Parameters

d1	Data struct in which data is filled

virtual void SampleParser::grip ( int state )

inlinevirtual

Toggle gripper.

Parameters

state 0 to close, 1 to open

virtual void SampleParser::initialize ( ros::NodeHandle & nh_ )

inlinevirtual

Initialize the Hardware with a ros node handle to setup communications.

Parameters

nh_	Nodehandle to setup communications

virtual bool SampleParser::land ( )

inlinevirtual

Land.

Returns: True if landing successful

virtual void SampleParser::reset_attitude	(	double	roll,
		double	pitch,
		double	yaw
	)

inlinevirtual

Set the attitude data to specified roll, pitch, yaw (rad)

Parameters

roll	Roll angle (rad)
pitch	Pitch angle (rad)
yaw	Yaw angle (rad)

virtual void SampleParser::setaltitude ( double altitude_ )

inlinevirtual

set the altitude or local z height data(m)

Parameters

altitude_ Altitude(m)

virtual void SampleParser::setBatteryPercent ( double percent )

inlinevirtual

Set the battery percent sensor data.

Parameters

percent

virtual void SampleParser::setlogdir ( string logdir )

inlinevirtual

Create log directory and create log files.

Parameters

logdir the directory where to create log files

virtual void SampleParser::setmode ( std::string mode )

inlinevirtual

Set UAV controller mode such position controlling, rpyt etc.

Parameters

mode	This version does not support any modes

void SampleParser::setRC ( int16_t channels[4] )

inline

set the rc channel information stored in the UAV brain

Parameters

channels rc channel values (-10000, 10000)

virtual bool SampleParser::takeoff ( )

inlinevirtual

Takeoff.

Returns: True if successful

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

include/aerial_autonomy/tests/sample_parser.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation