ObstacleAvoidance.hpp File Reference

This class is used to inject the setpoints of an obstacle avoidance system into the FlightTasks. More...

#include <px4_platform_common/defines.h>
#include <px4_platform_common/module_params.h>
#include <commander/px4_custom_mode.h>
#include <drivers/drv_hrt.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>
#include <uORB/topics/position_setpoint.h>
#include <lib/hysteresis/hysteresis.h>
#include <matrix/matrix/math.hpp>

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Classes
class	ObstacleAvoidance

Variables
const vehicle_trajectory_waypoint_s	empty_trajectory_waypoint

Detailed Description

This class is used to inject the setpoints of an obstacle avoidance system into the FlightTasks.

Author

Martina Rivizzigno

Definition in file ObstacleAvoidance.hpp.

Variable Documentation

empty_trajectory_waypoint

const vehicle_trajectory_waypoint_s empty_trajectory_waypoint

Initial value:

= {0, 0, {0, 0, 0, 0, 0, 0, 0},
    {   {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
        {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
        {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
        {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
        {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}}
    }
}

Definition at line 62 of file ObstacleAvoidance.hpp.

Referenced by ObstacleAvoidance::ObstacleAvoidance(), TEST_F(), and ObstacleAvoidance::updateAvoidanceDesiredSetpoints().