UAV vision system with an arm. More...

#include <uav_arm_system.h>

Inheritance diagram for UAVArmSystem:

Collaboration diagram for UAVArmSystem:

Public Member Functions
	UAVArmSystem (BaseTracker &tracker, parsernode::Parser &drone_hardware, ArmParser &arm_hardware, UAVSystemConfig config)
	Constructor. More...

std::string	getSystemStatus () const
	Provide the current state of UAV system. More...

uint32_t	gripTimeout ()
	getter for timeout used for gripping More...

tf::Transform	armGoalTransform (int i)
	getter for transfrom from arm to object More...

Public Member Functions inherited from UAVVisionSystem
	UAVVisionSystem (BaseTracker &tracker, parsernode::Parser &drone_hardware, UAVSystemConfig config)
	Constructor. More...

bool	getTrackingVector (Position &pos)
	Get the direction vector of the tracking target in the global frame. More...

bool	initializeTracker ()

std::string	getSystemStatus () const
	Provide the current state of UAV system. More...

Public Member Functions inherited from UAVSystem
	UAVSystem (parsernode::Parser &drone_hardware)
	Constructor with default configuration. More...

	UAVSystem (parsernode::Parser &drone_hardware, UAVSystemConfig config)
	Constructor. More...

parsernode::common::quaddata	getUAVData () const
	Get sensor data from UAV. More...

void	takeOff ()
	Public API call to takeoff. More...

void	enableAutonomousMode ()
	Public API call to enable Quadcopter SDK. This call is only necessary if Quad goes into manual mode due to rc switching while state machine is running. More...

void	land ()
	Public API call to land. More...

UAVSystemConfig	getConfiguration ()
	Get system configuration. More...

void	setHomeLocation ()
	save current location as home location More...

bool	isHomeLocationSpecified ()
	Check if home location is specified. More...

PositionYaw	getHomeLocation ()
	Stored home location. More...

Public Member Functions inherited from BaseRobotSystem
	BaseRobotSystem ()
	Constructor to initialize active controllers and mutexes to NULL. More...

template<class ControllerHardwareConnectorT , class GoalT >
void	setGoal (GoalT goal)
	sets goal to the connector and swaps the active connector with the specified connector type. More...

template<class ControllerHardwareConnectorT , class GoalT >
GoalT	getGoal () const
	Get the goal from connector. More...

template<class ControllerHardwareConnectorT >
ControllerStatus	getStatus () const
	Get the status of a controller. More...

ControllerStatus	getActiveControllerStatus (HardwareType hardware_type) const
	Get the status of the active controller. More...

void	abortController (HardwareType hardware_type)
	Remove active controller for given hardware type. More...

void	runActiveController (HardwareType hardware_type)
	Run active controller stored for a given hardware type. More...

Public Member Functions inherited from ArmSystem
	ArmSystem (ArmParser &arm_hardware)
	Constructor. More...

Eigen::Matrix4d	getEndEffectorPose ()
	Public API call to get end effector transform. More...

bool	grip (bool grip_action)
	Public API call to grip/ungrip an object. More...

void	power (bool state)
	Power the arm on/off. More...

void	foldArm ()
	Set the arm joints to a known folded configuration. More...

void	rightArm ()
	Set the arm joints to a known L shaped configuration. More...

bool	getCommandStatus () const
	Verify the status of grip/power on/off and fold/rightArm commands. More...

bool	enabled () const
	If arm is enabled return. More...

Additional Inherited Members
Protected Attributes inherited from UAVVisionSystem
tf::Transform	camera_transform_
	Camera transform in the frame of the UAV. More...

Protected Attributes inherited from UAVSystem
parsernode::Parser &	drone_hardware_
	Hardware. More...

UAVSystemConfig	config_
	UAV configuration parameters. More...

Protected Attributes inherited from BaseRobotSystem
TypeMap < AbstractControllerHardwareConnector >	controller_hardware_connector_container_
	Container to store and retrieve controller-hardware-connectors. More...

Detailed Description

UAV vision system with an arm.

Constructor & Destructor Documentation

UAVArmSystem::UAVArmSystem	(	BaseTracker &	tracker,
		parsernode::Parser &	drone_hardware,
		ArmParser &	arm_hardware,
		UAVSystemConfig	config
	)

inline

Constructor.

Parameters

tracker	Used to track targets for visual servoing
drone_hardware	UAV driver
arm_hardware	Manipulator driver
config	Configuration parameters

Member Function Documentation

tf::Transform UAVArmSystem::armGoalTransform ( int i )

inline

getter for transfrom from arm to object

Parameters

i	Index of arm transform to get

Returns: transform from arm to object

std::string UAVArmSystem::getSystemStatus ( ) const

inlinevirtual

Provide the current state of UAV system.

Returns: string representation of the UAV system state

Reimplemented from ArmSystem.

uint32_t UAVArmSystem::gripTimeout ( )

inline

getter for timeout used for gripping

Returns: timeout used for gripping

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

include/aerial_autonomy/robot_systems/uav_arm_system.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation