velocity Class Reference

A class to provide velocity related functionalities. More...

#include <velocity.h>

Public Member Functions
geometry_msgs::Vector3	compute_velocity (geometry_msgs::Point goal, double velocity)
	Compute the velocity vector required to reach a goal point from the current position while traveling with a given maximum velocity. More...
geometry_msgs::Vector3	get_velocity () const
	Get the current velocity of the CPS. More...
void	move (geometry_msgs::Vector3 velocity)
	Move the CPS with a given velocity. More...
cpswarm_msgs::Vector	rel_velocity (geometry_msgs::Vector3 v) const
	Compute the velocity difference of the CPS to a given velocity. More...
	velocity ()
	Constructor that initializes the private member variables. More...
	~velocity ()
	Destructor that deletes the private member objects. More...

Private Member Functions
void	vel_callback (const geometry_msgs::TwistStamped::ConstPtr &msg)
	Callback function for velocity updates. More...

Private Attributes
geometry_msgs::Twist	current_vel
	Current velocity of the CPS. More...
NodeHandle	nh
	A node handle for the main ROS node. More...
position	pos
	A helper object for position related tasks. More...
Rate *	rate
	The loop rate object for running the behavior control loops at a specific frequency. More...
Publisher	vel_pub
	Publisher for sending the target velocity of the CPS to the velocity controller in the abstraction library. More...
Subscriber	vel_sub
	Subscriber for the velocity of the CPS. More...
bool	vel_valid
	Whether a valid velocity has been received. More...

Detailed Description

A class to provide velocity related functionalities.

Definition at line 18 of file velocity.h.

Constructor & Destructor Documentation

velocity()

velocity::velocity

(

)

Constructor that initializes the private member variables.

Definition at line 3 of file velocity.cpp.

~velocity()

velocity::~velocity

(

)

Destructor that deletes the private member objects.

Definition at line 26 of file velocity.cpp.

Member Function Documentation

compute_velocity()

geometry_msgs::Vector3 velocity::compute_velocity	(	geometry_msgs::Point	goal,
		double	velocity
	)

Compute the velocity vector required to reach a goal point from the current position while traveling with a given maximum velocity.

Parameters

goal	The goal coordinates.
velocity	The velocity magnitude.

Returns

The linear velocity vector that moves the CPS in the direction of the goal point.

Definition at line 31 of file velocity.cpp.

get_velocity()

geometry_msgs::Vector3 velocity::get_velocity

(

)

const

Get the current velocity of the CPS.

Returns

The current linear velocity of the CPS.

Definition at line 54 of file velocity.cpp.

move()

void velocity::move

(

geometry_msgs::Vector3

velocity

)

Move the CPS with a given velocity.

/**

Parameters

velocity

The velocity at which the CPS shall move.

Definition at line 59 of file velocity.cpp.

rel_velocity()

cpswarm_msgs::Vector velocity::rel_velocity

(

geometry_msgs::Vector3

v

)

const

Compute the velocity difference of the CPS to a given velocity.

Parameters

v	The velocity to compare.

Returns

The velocity relative to the current velocity of the CPS as magnitude and direction.

Definition at line 69 of file velocity.cpp.

vel_callback()

void velocity::vel_callback ( const geometry_msgs::TwistStamped::ConstPtr &  msg )

private

Callback function for velocity updates.

Parameters

msg	Velocity received from the CPS FCU.

Definition at line 84 of file velocity.cpp.

Member Data Documentation

current_vel

geometry_msgs::Twist velocity::current_vel

private

Current velocity of the CPS.

Definition at line 93 of file velocity.h.

nh

NodeHandle velocity::nh

private

A node handle for the main ROS node.

Definition at line 68 of file velocity.h.

pos

position velocity::pos

private

A helper object for position related tasks.

Definition at line 88 of file velocity.h.

rate

Rate* velocity::rate

private

The loop rate object for running the behavior control loops at a specific frequency.

Definition at line 83 of file velocity.h.

vel_pub

Publisher velocity::vel_pub

private

Publisher for sending the target velocity of the CPS to the velocity controller in the abstraction library.

Definition at line 78 of file velocity.h.

vel_sub

Subscriber velocity::vel_sub

private

Subscriber for the velocity of the CPS.

Definition at line 73 of file velocity.h.

vel_valid

bool velocity::vel_valid

private

Whether a valid velocity has been received.

Definition at line 98 of file velocity.h.

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

• velocity.h
• velocity.cpp