UAVSystem Class Reference

Owns, initializes, and facilitates communication between different hardware/software components. Provides builtin position, velocity, and rpy controllers for controlling UAV. More...

#include <uav_system.h>

Inheritance diagram for UAVSystem:

Collaboration diagram for UAVSystem:

Public Member Functions
	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...
std::string	getSystemStatus () const
	Provide the current state of UAV system. 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...

Protected Attributes
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

Owns, initializes, and facilitates communication between different hardware/software components. Provides builtin position, velocity, and rpy controllers for controlling UAV.

Constructor & Destructor Documentation

UAVSystem::UAVSystem ( parsernode::Parser &  drone_hardware )

inline

Constructor with default configuration.

UAVSystem::UAVSystem ( parsernode::Parser &  drone_hardware, UAVSystemConfig  config  )

inline

Constructor.

UAVSystem requires a drone hardware. It instantiates the connectors, controllers

Parameters

drone_hardware	input hardware to send commands back
config	The system configuration specifying the parameters such as takeoff height, etc.

Member Function Documentation

void UAVSystem::enableAutonomousMode ( )

inline

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.

UAVSystemConfig UAVSystem::getConfiguration ( )

inline

Get system configuration.

Returns

Configuration

PositionYaw UAVSystem::getHomeLocation ( )

inline

Stored home location.

Returns

Home location (PositionYaw)

std::string UAVSystem::getSystemStatus ( ) const

inlinevirtual

Provide the current state of UAV system.

Returns

string representation of the UAV system state

Implements BaseRobotSystem.

Reimplemented in UAVVisionSystem.

parsernode::common::quaddata UAVSystem::getUAVData ( ) const

inline

Get sensor data from UAV.

Returns

Accumulated sensor data from UAV

bool UAVSystem::isHomeLocationSpecified ( )

inline

Check if home location is specified.

Returns

True if home location is specified

void UAVSystem::land ( )

inline

Public API call to land.

void UAVSystem::setHomeLocation ( )

inline

save current location as home location

void UAVSystem::takeOff ( )

inline

Public API call to takeoff.

Member Data Documentation

UAVSystemConfig UAVSystem::config_

protected

UAV configuration parameters.

parsernode::Parser& UAVSystem::drone_hardware_

protected

Hardware.

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

• include/aerial_autonomy/robot_systems/uav_system.h