TestObstacleAvoidance Class Reference
Inheritance diagram for TestObstacleAvoidance:
Collaboration diagram for TestObstacleAvoidance:
Public Member Functions | |
| TestObstacleAvoidance () | |
| void | paramsChanged () |
| void | test_setPosition (Vector3f &pos) |
 Public Member Functions inherited from ObstacleAvoidance | |
| ObstacleAvoidance (ModuleParams *parent) | |
| ~ObstacleAvoidance ()=default | |
| void | injectAvoidanceSetpoints (matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp) |
| Inject setpoints from obstacle avoidance system into FlightTasks. More... | |
| void | updateAvoidanceDesiredWaypoints (const matrix::Vector3f &curr_wp, const float curr_yaw, const float curr_yawspeed, const matrix::Vector3f &next_wp, const float next_yaw, const float next_yawspeed, const bool ext_yaw_active, const int wp_type) |
| Updates the desired waypoints to send to the obstacle avoidance system. More... | |
| void | updateAvoidanceDesiredSetpoints (const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp, const int type) |
| Updates the desired setpoints to send to the obstacle avoidance system. More... | |
| void | checkAvoidanceProgress (const matrix::Vector3f &pos, const matrix::Vector3f &prev_wp, float target_acceptance_radius, const matrix::Vector2f &closest_pt) |
| Checks the vehicle progress between previous and current position waypoint of the triplet. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from ObstacleAvoidance | |
| void | _publishVehicleCmdDoLoiter () |
| Publishes vehicle command. More... | |
| DEFINE_PARAMETERS ((ParamFloat< px4::params::NAV_MC_ALT_RAD >) _param_nav_mc_alt_rad) | |
| Protected Attributes inherited from ObstacleAvoidance | |
| uORB::SubscriptionData< vehicle_trajectory_waypoint_s > | _sub_vehicle_trajectory_waypoint {ORB_ID(vehicle_trajectory_waypoint)} |
| vehicle trajectory waypoint subscription More... | |
| uORB::SubscriptionData< vehicle_status_s > | _sub_vehicle_status {ORB_ID(vehicle_status)} |
| vehicle status subscription More... | |
| vehicle_trajectory_waypoint_s | _desired_waypoint {} |
| desired vehicle trajectory waypoint to be sent to OA More... | |
| uORB::Publication< vehicle_trajectory_waypoint_s > | _pub_traj_wp_avoidance_desired {ORB_ID(vehicle_trajectory_waypoint_desired)} |
| trajectory waypoint desired publication More... | |
| uORB::Publication< position_controller_status_s > | _pub_pos_control_status {ORB_ID(position_controller_status)} |
| position controller status publication More... | |
| uORB::PublicationQueued< vehicle_command_s > | _pub_vehicle_command {ORB_ID(vehicle_command)} |
| vehicle command do publication More... | |
| matrix::Vector3f | _curr_wp = {} |
| current position triplet More... | |
| matrix::Vector3f | _position = {} |
| current vehicle position More... | |
| matrix::Vector3f | _failsafe_position = {} |
| vehicle position when entered in failsafe More... | |
| systemlib::Hysteresis | _avoidance_point_not_valid_hysteresis {false} |
| becomes true if the companion doesn't start sending valid setpoints More... | |
| systemlib::Hysteresis | _no_progress_z_hysteresis {false} |
| becomes true if the vehicle is not making progress towards the z component of the goal More... | |
| float | _prev_pos_to_target_z = -1.f |
| z distance to the goal More... | |
| bool | _ext_yaw_active = false |
| true, if external yaw handling is active More... | |
Detailed Description
Definition at line 58 of file ObstacleAvoidanceTest.cpp.
Constructor & Destructor Documentation
◆ TestObstacleAvoidance()
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inline |
Definition at line 61 of file ObstacleAvoidanceTest.cpp.
Member Function Documentation
◆ paramsChanged()
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inline |
Definition at line 62 of file ObstacleAvoidanceTest.cpp.
◆ test_setPosition()
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inline |
Definition at line 63 of file ObstacleAvoidanceTest.cpp.
Referenced by TEST_F().
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The documentation for this class was generated from the following file:
- src/lib/flight_tasks/tasks/Utility/ObstacleAvoidanceTest.cpp
