UAVVisionSystem Class Reference

UAV system with a camera and visual sevoing capabilities. More...

#include <uav_vision_system.h>

Inheritance diagram for UAVVisionSystem:

Collaboration diagram for UAVVisionSystem:

Public Member Functions
	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...

Protected Attributes
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 system with a camera and visual sevoing capabilities.

Constructor & Destructor Documentation

UAVVisionSystem::UAVVisionSystem ( BaseTracker &  tracker, parsernode::Parser &  drone_hardware, UAVSystemConfig  config  )

inline

Constructor.

Parameters

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

Member Function Documentation

std::string UAVVisionSystem::getSystemStatus ( ) const

inlinevirtual

Provide the current state of UAV system.

Returns

string representation of the UAV system state

Reimplemented from UAVSystem.

bool UAVVisionSystem::getTrackingVector ( Position &  pos )

inline

Get the direction vector of the tracking target in the global frame.

Parameters

pos	Returned position

Returns

True if successful and false otherwise

bool UAVVisionSystem::initializeTracker ( )

inline

Member Data Documentation

tf::Transform UAVVisionSystem::camera_transform_

protected

Camera transform in the frame of the UAV.

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

• include/aerial_autonomy/robot_systems/uav_vision_system.h