maneuver component

Table of Contents

• Ports
  • state (in)
  • desired (out)
  • horizon (out)
• Services
  • set_bounds (function)
  • set_velocity_limit (function)
  • set_acceleration_limit (function)
  • set_jerk_limit (function)
  • set_snap_limit (function)
  • get_limits (function)
  • set_state (function)
  • set_current_state (activity)
  • take_off (activity)
  • goto (activity)
  • waypoint (activity)
  • velocity (function)
  • replay (activity)
  • wait (activity)
  • stop (activity)
  • get_reference (attribute)
  • set_horizon (activity)
  • log (function)
  • log_stop (function)
  • log_info (function)
• Tasks
  • plan
  • exec

Ports

state (in)

Data structure struct ::or_pose_estimator::state state struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

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desired (out)

Data structure struct ::or_rigid_body::state desired struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::jerk > jerk double jx double jy double jz optional< struct ::or::t3d::snap > snap double sx double sy double sz

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horizon (out)

Data structure sequence< struct ::or_rigid_body::state > horizon struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::jerk > jerk double jx double jy double jz optional< struct ::or::t3d::snap > snap double sx double sy double sz

Moving horizon of the current motion.

See set_horizon (activity) to configure this port.

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Services

set_bounds (function)

Inputs double xmin double xmax double ymin double ymax double zmin double zmax double yawmin double yawmax

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set_velocity_limit (function)

Inputs double v double w

Throws exception ::maneuver::e_limits

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set_acceleration_limit (function)

Inputs double a double dw

Throws exception ::maneuver::e_limits

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set_jerk_limit (function)

Inputs double j double ddw

Throws exception ::maneuver::e_limits

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set_snap_limit (function)

Inputs double s double dddw

Throws exception ::maneuver::e_limits

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get_limits (function)

Outputs double xmin double xmax double ymin double ymax double zmin double zmax double yawmin double yawmax double v double w double a double dw double j double ddw double s double dddw

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set_state (function)

Inputs double x double y double z double yaw

Set initial planning position

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set_current_state (activity)

Throws exception ::maneuver::e_nostate

Context In task plan Reads port state (in)

Set initial planning position to current one

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take_off (activity)

Inputs double height double duration

Throws exception ::maneuver::e_nostate exception ::maneuver::e_limits exception ::maneuver::e_sys short code string<128> what

Context In task plan Interrupts take_off (activity) Interrupts goto (activity) Interrupts waypoint (activity) Interrupts replay (activity) Interrupts stop (activity)

Vertical take-off from current state

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goto (activity)

Inputs double x double y double z double yaw double duration

Throws exception ::maneuver::e_nostate exception ::maneuver::e_limits exception ::maneuver::e_sys short code string<128> what

Context In task plan Interrupts take_off (activity) Interrupts goto (activity) Interrupts waypoint (activity) Interrupts replay (activity) Interrupts stop (activity)

Reach a given position from current state

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waypoint (activity)

Inputs double x double y double z double yaw double vx double vy double vz double wz double ax double ay double az double duration

Throws exception ::maneuver::e_nostate exception ::maneuver::e_limits exception ::maneuver::e_sys short code string<128> what

Context In task plan Interrupts waypoint (activity) Interrupts stop (activity)

Push a given position to reach after last one

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velocity (function)

Inputs double vx double vy double vz double wz double ax double ay double az double duration

Throws exception ::maneuver::e_limits exception ::maneuver::e_sys short code string<128> what

Context Interrupts take_off (activity) Interrupts goto (activity) Interrupts replay (activity) Interrupts stop (activity)

Reach a desired velocity within a given duration

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replay (activity)

Inputs string<128> filename (default "maneuver.log") Log file name

Throws exception ::maneuver::e_nostate exception ::maneuver::e_limits exception ::maneuver::e_sys short code string<128> what

Context In task plan Interrupts take_off (activity) Interrupts goto (activity) Interrupts waypoint (activity) Interrupts replay (activity) Interrupts stop (activity)

Replay a trajectory log file

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wait (activity)

Context In task plan

Wait until last waypoint/goto point is reached

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stop (activity)

Throws exception ::maneuver::e_limits exception ::maneuver::e_sys short code string<128> what

Context In task plan Interrupts take_off (activity) Interrupts goto (activity) Interrupts waypoint (activity) Interrupts replay (activity)

Cancel any motion and bring the velocity to zero

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get_reference (attribute)

Outputs struct ::or_rigid_body::state reference struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::jerk > jerk double jx double jy double jz optional< struct ::or::t3d::snap > snap double sx double sy double sz

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set_horizon (activity)

Inputs double horizon Amount of time (s) unsigned long samples Number of samples

Outputs double horizon Amount of time (s) unsigned long samples Number of samples

Throws exception ::maneuver::e_sys short code string<128> what

Context In task exec (frequency 200.0 Hz) Updates port horizon (out)

Set sampling rate and duration of horizon port

This service activates the publication of the horizon port. The input parameters are adapted to match the internal sampling rate of trajectories, but are guaranteed to be at least as big as requested. The actual values are returned as output parameters

Passing 0 as the number of samples uses the internal sampling rate. Passing 0 for both duration and number of samples disables publishing of the horizon port.

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log (function)

Inputs string<64> path (default "/tmp/maneuver.log") Log file name unsigned long decimation (default "1") Reduced logging frequency

Throws exception ::maneuver::e_sys short code string<128> what

Log state

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log_stop (function)

Stop logging

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log_info (function)

Outputs unsigned long miss Missed log entries unsigned long total Total log entries

Show missed log entries

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Tasks

plan

Context Free running

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exec

Context Frequency 200.0 Hz Updates port horizon (out) Updates port desired (out) Updates port horizon (out)

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