StraightLine Class Reference

#include <StraightLine.hpp>

Collaboration diagram for StraightLine:

Public Member Functions
	StraightLine (const matrix::Vector3f &pos)
	~StraightLine ()=default
void	setLineFromTo (const matrix::Vector3f &start, const matrix::Vector3f &end)
void	setSpeed (const float &speed)
void	generateSetpoints (matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint)
	Generate setpoints on a straight line according to parameters. More...
bool	isEndReached ()
	Check if the end was reached. More...

Private Attributes
const matrix::Vector3f &	_position
	vehicle position (dependency injection) More...
matrix::Vector3f	_start
	Start point of the straight line. More...
matrix::Vector3f	_end
	End point of the straight line. More...
float	_speed = 1.f
	desired speed between accelerating and decelerating More...
bool	end_reached = true
	Flag to lock further movement when end is reached. More...

Detailed Description

Definition at line 46 of file StraightLine.hpp.

Constructor & Destructor Documentation

StraightLine()

StraightLine::StraightLine ( const matrix::Vector3f &  pos )

inline

Definition at line 49 of file StraightLine.hpp.

References setLineFromTo(), start(), and ~StraightLine().

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~StraightLine()

StraightLine::~StraightLine ( )

default

Referenced by StraightLine().

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Member Function Documentation

generateSetpoints()

void StraightLine::generateSetpoints	(	matrix::Vector3f &	position_setpoint,
		matrix::Vector3f &	velocity_setpoint
	)

Generate setpoints on a straight line according to parameters.

Parameters

position_setpoint	reference to the 3D vector with the position setpoint to update
velocity_setpoint	reference to the 3D vector with the velocity setpoint to update

Definition at line 44 of file StraightLine.cpp.

References f(), math::min(), matrix::Vector< Type, M >::norm(), matrix::Matrix< Type, M, N >::setNaN(), matrix::Vector< Type, M >::unit_or_zero(), and velocity.

Referenced by FlightTaskOrbit::generate_circle_approach_setpoints(), and setSpeed().

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isEndReached()

bool StraightLine::isEndReached ( )

inline

Check if the end was reached.

Returns

false when on the way from start to end, true when end was reached

Definition at line 69 of file StraightLine.hpp.

References end_reached.

Referenced by FlightTaskOrbit::generate_circle_approach_setpoints().

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setLineFromTo()

void StraightLine::setLineFromTo	(	const matrix::Vector3f &	start,
		const matrix::Vector3f &	end
	)

Definition at line 83 of file StraightLine.cpp.

References matrix::Vector< Type, M >::norm_squared(), and start().

Referenced by FlightTaskOrbit::generate_circle_approach_setpoints(), and StraightLine().

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setSpeed()

void StraightLine::setSpeed ( const float &  speed )

inline

Definition at line 54 of file StraightLine.hpp.

References _speed, and generateSetpoints().

Referenced by FlightTaskOrbit::generate_circle_approach_setpoints().

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Member Data Documentation

_end

matrix::Vector3f StraightLine::_end

private

End point of the straight line.

Definition at line 75 of file StraightLine.hpp.

_position

const matrix::Vector3f& StraightLine::_position

private

vehicle position (dependency injection)

Definition at line 72 of file StraightLine.hpp.

_speed

float StraightLine::_speed = 1.f

private

desired speed between accelerating and decelerating

Definition at line 76 of file StraightLine.hpp.

Referenced by setSpeed().

_start

matrix::Vector3f StraightLine::_start

private

Start point of the straight line.

Definition at line 74 of file StraightLine.hpp.

end_reached

bool StraightLine::end_reached = true

private

Flag to lock further movement when end is reached.

Definition at line 78 of file StraightLine.hpp.

Referenced by isEndReached().

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

• src/lib/flight_tasks/tasks/Utility/StraightLine.hpp
• src/lib/flight_tasks/tasks/Utility/StraightLine.cpp