A visual servoing controller that uses a tracker output as feedback and moves the arm to a goal pose relative to the tracked target. More...

Inheritance diagram for VisualServoingControllerArmConnector:

Collaboration diagram for VisualServoingControllerArmConnector:

Public Member Functions
	VisualServoingControllerArmConnector (BaseTracker &tracker, parsernode::Parser &drone_hardware, ArmParser &arm_hardware, RelativePoseController &controller, tf::Transform camera_transform, tf::Transform arm_transform)
	Constructor. More...

virtual	~VisualServoingControllerArmConnector ()
	Destructor. More...

bool	getTrackingPoseArmFrame (tf::Transform &tracking_pose)
	Get the tracking pose of the tracker in the arm frame. More...

Public Member Functions inherited from ControllerHardwareConnector< std::tuple< tf::Transform, tf::Transform >, tf::Transform, tf::Transform >
	ControllerHardwareConnector (Controller< std::tuple< tf::Transform, tf::Transform >, tf::Transform, tf::Transform > &controller, HardwareType hardware_type)
	ControlHardwareConnector runs the controller and sends the commands to hardware. More...

virtual void	run ()
	Extracts sensor data, run controller and send data back to hardware. More...

void	setGoal (tf::Transformgoal)
	Set the goal for controller. More...

tf::Transform	getGoal () const
	Get the goal for controller. More...

HardwareType	getHardwareType ()
	Return the type of hardware (HardwareType) used by the controller. More...

ControllerStatus	getStatus () const
	Provide the status of the controller. More...

Public Member Functions inherited from AbstractControllerHardwareConnector
virtual	~AbstractControllerHardwareConnector ()
	Destructor to get polymorphism. More...

Protected Member Functions
virtual bool	extractSensorData (std::tuple< tf::Transform, tf::Transform > &sensor_data)
	Extracts pose data from ROI. More...

virtual void	sendHardwareCommands (tf::Transform controls)
	Send position commands to hardware. More...

Additional Inherited Members
Protected Attributes inherited from ControllerHardwareConnector< std::tuple< tf::Transform, tf::Transform >, tf::Transform, tf::Transform >
HardwareType	hardware_type_
	Type of hardware controlled by the controller. More...

Detailed Description

A visual servoing controller that uses a tracker output as feedback and moves the arm to a goal pose relative to the tracked target.

Constructor & Destructor Documentation

VisualServoingControllerArmConnector::VisualServoingControllerArmConnector	(	BaseTracker &	tracker,
		parsernode::Parser &	drone_hardware,
		ArmParser &	arm_hardware,
		RelativePoseController &	controller,
		tf::Transform	camera_transform,
		tf::Transform	arm_transform
	)

inline

Constructor.

virtual VisualServoingControllerArmConnector::~VisualServoingControllerArmConnector ( )

inlinevirtual

Destructor.

bool VisualServoingControllerArmConnector::extractSensorData ( std::tuple< tf::Transform, tf::Transform > & sensor_data )

protectedvirtual

Extracts pose data from ROI.

Parameters

sensor_data Pose of arm end effector and pose of tracked object in arm frame

bool VisualServoingControllerArmConnector::getTrackingPoseArmFrame ( tf::Transform & tracking_pose )

Get the tracking pose of the tracker in the arm frame.

Parameters

tracking_vector Returned tracking pose

void VisualServoingControllerArmConnector::sendHardwareCommands ( tf::Transform controls )

protectedvirtual

Send position commands to hardware.

Parameters

controls position command to send to arm

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

include/aerial_autonomy/controller_hardware_connectors/visual_servoing_controller_arm_connector.h
src/controller_hardware_connectors/visual_servoing_controller_arm_connector.cpp