A visual servoing controller that uses a tracker output as feedback. More...

Inheritance diagram for VisualServoingControllerDroneConnector:

Collaboration diagram for VisualServoingControllerDroneConnector:

Public Member Functions
	VisualServoingControllerDroneConnector (BaseTracker &tracker, parsernode::Parser &drone_hardware, ConstantHeadingDepthController &controller, tf::Transform camera_transform)
	Constructor. More...

virtual	~VisualServoingControllerDroneConnector ()
	Destructor. More...

bool	getTrackingVectorGlobalFrame (Position &tracking_vector)
	Get the tracking vector of the RoiToPositionConverter in the global frame. More...

Public Member Functions inherited from ControllerHardwareConnector< PositionYaw, Position, VelocityYawRate >
	ControllerHardwareConnector (Controller< PositionYaw, Position, VelocityYawRate > &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 (Positiongoal)
	Set the goal for controller. More...

Position	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 (PositionYaw &sensor_data)
	Extracts pose data from ROI. More...

virtual void	sendHardwareCommands (VelocityYawRate controls)
	Send velocity commands to hardware. More...

Additional Inherited Members
Protected Attributes inherited from ControllerHardwareConnector< PositionYaw, Position, VelocityYawRate >
HardwareType	hardware_type_
	Type of hardware controlled by the controller. More...

Detailed Description

A visual servoing controller that uses a tracker output as feedback.

Constructor & Destructor Documentation

VisualServoingControllerDroneConnector::VisualServoingControllerDroneConnector	(	BaseTracker &	tracker,
		parsernode::Parser &	drone_hardware,
		ConstantHeadingDepthController &	controller,
		tf::Transform	camera_transform
	)

inline

Constructor.

virtual VisualServoingControllerDroneConnector::~VisualServoingControllerDroneConnector ( )

inlinevirtual

Destructor.

bool VisualServoingControllerDroneConnector::extractSensorData ( PositionYaw & sensor_data )

protectedvirtual

Extracts pose data from ROI.

Parameters

sensor_data Position and yaw of object tracked by ROI

bool VisualServoingControllerDroneConnector::getTrackingVectorGlobalFrame ( Position & tracking_vector )

Get the tracking vector of the RoiToPositionConverter in the global frame.

Parameters

tracking_vector Returned tracking vector

void VisualServoingControllerDroneConnector::sendHardwareCommands ( VelocityYawRate controls )

protectedvirtual

Send velocity commands to hardware.

Parameters

controls velocity command to send to UAV

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

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