ObstacleAvoidance Class Reference

Inheritance diagram for ObstacleAvoidance:

Public Member Functions
	ObstacleAvoidance (ModuleParams *parent)
bool	initializeSubscriptions (SubscriptionArray &subscription_array)
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)
	Updates the desired waypoints to send to the obstacle avoidance system. More...
void	updateAvoidanceDesiredSetpoints (const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp)
	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...
Public Member Functions inherited from ModuleParams
	ModuleParams (ModuleParams *parent)
void	setParent (ModuleParams *parent)
	Sets the parent module. More...
	ModuleParams (const ModuleParams &)=delete
ModuleParams &	operator= (const ModuleParams &)=delete
	ModuleParams (ModuleParams &&)=delete
ModuleParams &	operator= (ModuleParams &&)=delete
Public Member Functions inherited from ListNode< ModuleParams *>
void	setSibling (ModuleParams * sibling)
const ModuleParams *	getSibling () const

Additional Inherited Members
Protected Member Functions inherited from ModuleParams
virtual void	updateParams ()
	Call this method whenever the module gets a parameter change notification. More...
virtual void	updateParamsImpl ()
	The implementation for this is generated with the macro DEFINE_PARAMETERS()
Protected Attributes inherited from ListNode< ModuleParams *>
ModuleParams *	_sibling

Member Function Documentation

checkAvoidanceProgress()

void ObstacleAvoidance::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.

Parameters

pos,vehicle	position
prev_wp,previous	position triplet
target_acceptance_radius,current	position triplet xy acceptance radius
closest_pt,closest	point to the vehicle on the line previous-current position triplet

injectAvoidanceSetpoints()

void ObstacleAvoidance::injectAvoidanceSetpoints	(	matrix::Vector3f &	pos_sp,
		matrix::Vector3f &	vel_sp,
		float &	yaw_sp,
		float &	yaw_speed_sp
	)

Inject setpoints from obstacle avoidance system into FlightTasks.

Parameters

pos_sp,position	setpoint
vel_sp,velocity	setpoint
yaw_sp,yaw	setpoint
yaw_speed_sp,yaw	speed setpoint

updateAvoidanceDesiredSetpoints()

void ObstacleAvoidance::updateAvoidanceDesiredSetpoints	(	const matrix::Vector3f &	pos_sp,
		const matrix::Vector3f &	vel_sp
	)

Updates the desired setpoints to send to the obstacle avoidance system.

Parameters

pos_sp,desired	position setpoint computed by the active FlightTask
vel_sp,desired	velocity setpoint computed by the active FlightTask

updateAvoidanceDesiredWaypoints()

void ObstacleAvoidance::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
	)

Updates the desired waypoints to send to the obstacle avoidance system.

These messages don't have any direct impact on the flight.

Parameters

curr_wp,current	position triplet
curr_yaw,current	yaw triplet
curr_yawspeed,current	yaw speed triplet
next_wp,next	position triplet
next_yaw,next	yaw triplet
next_yawspeed,next	yaw speed triplet

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

• src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
• src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp