Unmanned Air Vehicle
[Resources]

basic set of classes about an unmanned air vehicle More...

Classes

class  MipResources::asctecUavOptions
class  MipResources::asctecUavPar
 Represent parameters of AscTec asctec flying robots. More...
class  MipResources::asctecUavVar
 Represent variables of AscTec asctec flying robots. More...
class  MipResources::asctecUav
 Implementation of an AscTec asctec flying robot. More...
class  MipResources::HummingBirdUavOptions
class  MipResources::HummingBirdUavPar
 Represent parameters of AscTec HummingBird flying robots. More...
class  MipResources::HummingBirdUavVar
 Represent variables of AscTec HummingBird flying robots. More...
class  MipResources::HummingBirdUav
 Implementation of an AscTec HummingBird flying robot. More...
class  MipResources::HummingBirdUavComm
 Implements methods for communication with AscTec HummingBird. More...
class  MipResources::UavOptions
 Options for for the mobile robot. More...
class  MipResources::UavPar
 represents the fundamental params an abstract flying robot More...
class  MipResources::UavVar
 represents the fundamental vars of an abstract uav More...
class  MipResources::Uav
 represents an abstract mobile robot More...

Enumerations

enum  MipResources::UavModes {
  MipResources::UAV_FREE_MODE, MipResources::UAV_POSITION_MODE, MipResources::UAV_VELOCITY_MODE, MipResources::UAV_ACCELERATION_MODE,
  MipResources::UAV_MODE_NUM
}
 Enumerates the control modes of a Uav. More...

Functions

string MipResources::asctecUavOptions::getObjectName () const
 Gets the Name of the Options.
 MipResources::asctecUavOptions::asctecUavOptions ()
void MipResources::asctecUav::dataLoop ()
void MipResources::asctecUav::ctrlLoop ()
 MipResources::asctecUav::asctecUav (int argc, const char **argv)
 Constructor with arguments.
 MipResources::asctecUav::~asctecUav ()
 Destructor.
ResourcePlate MipResources::asctecUav::getPlate () const
 Mandatory getPlate function (inherited from Resource class).
Position3D MipResources::asctecUav::getPosition (Time &t)
 Gets Uav position.
Orientation3D MipResources::asctecUav::getAttitude (Time &t)
 Gets Uav attitude.
HummingBirdUavComm * MipResources::asctecUav::getCom ()
 Gets asctecUavComm pointer.
bool MipResources::asctecUav::setStatus (Orientation3D &pDes, Decimal &tDes)
 Sets Uav status.
bool MipResources::asctecUav::setThrust (Decimal tDes)
 Sets Uav thrust.
bool MipResources::asctecUav::setControllersGains (Decimal height_pid_des[3])
 Sets asctec Controllers Gains (see HBstructs.h).
bool MipResources::asctecUav::setFiltersGains (Decimal sonar_h_filt_des[2])
 Sets asctec Filters Gains (see HBstructs.h).
bool MipResources::asctecUav::setYaw (Angle yaw)
 Sets Uav yaw.
bool MipResources::asctecUav::setPose (Pose3D &pDes, short ctrlIn)
 Sets Uav pose.
bool MipResources::asctecUav::setAttitude (Orientation3D &oDes)
 Sets Uav attitude.
bool MipResources::asctecUav::setPosition (Position3D p, Velocity3D v=Velocity3D(0.0, 0.0, 0.0), Acceleration3D a=Acceleration3D(0.0, 0.0, 0.0))
 Sets position value.
bool MipResources::asctecUav::setVelocity (Velocity3D p, Acceleration3D a)
 Sets speed value.
bool MipResources::asctecUav::setAcceleration (Acceleration3D p)
 Sets acceleration value.
bool MipResources::asctecUav::readPosition ()
 Gets pose.
bool MipResources::asctecUav::readVelocity ()
 Gets velocity.
bool MipResources::asctecUav::readAttitude ()
 Gets attitude.
string MipResources::HummingBirdUavOptions::getObjectName () const
 Gets the Name of the Options.
 MipResources::HummingBirdUavOptions::HummingBirdUavOptions ()
void MipResources::HummingBirdUav::dataLoop ()
void MipResources::HummingBirdUav::ctrlLoop ()
void MipResources::HummingBirdUav::doClean ()
void MipResources::HummingBirdUav::startCtrlLoop ()
void MipResources::HummingBirdUav::stopCtrlLoop ()
void MipResources::HummingBirdUav::startDataLoop ()
void MipResources::HummingBirdUav::stopDataLoop ()
bool MipResources::HummingBirdUav::askExclusiveAccess (Time timeout)
void MipResources::HummingBirdUav::leaveExclusiveAccess ()
bool MipResources::HummingBirdUav::ctrlAskExclusiveAccess (Time timeout)
void MipResources::HummingBirdUav::ctrlLeaveExclusiveAccess ()
 MipResources::HummingBirdUav::HummingBirdUav (int argc, const char **argv)
 Constructor with arguments.
 MipResources::HummingBirdUav::~HummingBirdUav ()
 Destructor.
ResourcePlate MipResources::HummingBirdUav::getPlate () const
 Mandatory getPlate function (inherited from Resource class).
Position3D MipResources::HummingBirdUav::getPosition (Time &t)
 Gets Uav position.
Orientation3D MipResources::HummingBirdUav::getAttitude (Time &t)
 Gets Uav attitude.
HummingBirdUavComm * MipResources::HummingBirdUav::getCom ()
 Gets HummingBirdUavComm pointer.
bool MipResources::HummingBirdUav::setStatus (Orientation3D &pDes, Decimal &tDes)
 Sets Uav status.
bool MipResources::HummingBirdUav::setThrust (Decimal tDes)
 Sets Uav thrust.
bool MipResources::HummingBirdUav::setControllersGains (Decimal height_pid_des[3])
 Sets HummingBird Controllers Gains (see HBstructs.h).
bool MipResources::HummingBirdUav::setFiltersGains (Decimal sonar_h_filt_des[2])
 Sets HummingBird Filters Gains (see HBstructs.h).
bool MipResources::HummingBirdUav::setYaw (Angle yaw)
 Sets Uav yaw.
bool MipResources::HummingBirdUav::setPose (Pose3D &pDes, short ctrlIn)
 Sets Uav pose.
bool MipResources::HummingBirdUav::setAttitude (Orientation3D &oDes)
 Sets Uav attitude.
bool MipResources::HummingBirdUav::setPosition (Position3D p, Velocity3D v=Velocity3D(0.0, 0.0, 0.0), Acceleration3D a=Acceleration3D(0.0, 0.0, 0.0))
 Sets position value.
bool MipResources::HummingBirdUav::setVelocity (Velocity3D p, Acceleration3D a)
 Sets speed value.
bool MipResources::HummingBirdUav::setAcceleration (Acceleration3D p)
 Sets acceleration value.
bool MipResources::HummingBirdUav::readPosition ()
 Gets pose.
bool MipResources::HummingBirdUav::readVelocity ()
 Gets velocity.
bool MipResources::HummingBirdUav::readAttitude ()
 Gets attitude.
bool MipResources::HummingBirdUav::readAllData ()
 Read all data of interest.
string MipResources::HummingBirdUavComm::getObjectName () const
 Mandatory from MIPObject class.
 MipResources::HummingBirdUavComm::HummingBirdUavComm (int argc, const char *argv[])
 Constructor with parameters.
 MipResources::HummingBirdUavComm::HummingBirdUavComm (const char *portname)
 Constructor with single parameter.
 MipResources::HummingBirdUavComm::~HummingBirdUavComm ()
 Destructor.
uint MipResources::HummingBirdUavComm::getPort ()
 getPort: returns serial port file descriptor.
int MipResources::HummingBirdUavComm::send (void *msg, unsigned short size)
 Low level function. Simply send an array of char on port.
int MipResources::HummingBirdUavComm::receive (void *buffer, unsigned short numChar)
 Low level function. Simply receive a specified number of chars on port.
int MipResources::HummingBirdUavComm::requestData (unsigned short dataType)
 Send a message of data request to the HummingBird.
int MipResources::HummingBirdUavComm::waitForData (void *dataP, int &packet_descriptor)
 Starts a loop waiting for data structs.
int MipResources::HummingBirdUavComm::transmitControl (struct LABROB_CTRL_INPUT &ctrl)
 Transmits a single control sequence (control input).
int MipResources::HummingBirdUavComm::transmitControlFlags (struct LABROB_CTRL_FLAGS &ctrl)
 Transmits a single control sequence (control flags).
int MipResources::HummingBirdUavComm::transmitControlGains (struct LABROB_CONTROLLERS_GAINS &ctrl)
 Transmits a single control sequence (controllers gains).
int MipResources::HummingBirdUavComm::transmitFilterGains (struct LABROB_FILTERS_GAINS &ctrl)
 Transmits a single control sequence (filters gains).
int MipResources::HummingBirdUavComm::transmitPoseInput (struct LABROB_POSE_INPUT &ctrl)
 Transmits a single control sequence (pose informations).
unsigned short MipResources::HummingBirdUavComm::crc16 (void *data, unsigned short cnt)
 Implements crc16 algorithm.
 MipResources::UavOptions::UavOptions ()
string MipResources::UavOptions::getObjectName () const
 Gets the Name of the Options.
void MipResources::UavPar::setId (int i)
 sets the id
void MipResources::UavPar::setLength (Decimal r)
 sets the lenght
void MipResources::UavPar::setWidth (Decimal r)
 sets the width
void MipResources::UavPar::setHeight (Decimal r)
 sets the height
void MipResources::UavPar::setName (string n)
 sets the name
 MipResources::UavPar::UavPar ()
 MipResources::UavPar::UavPar (const UavPar &r)
UavPar & MipResources::UavPar::operator= (const UavPar &r)
int MipResources::UavPar::id ()
Decimal MipResources::UavPar::lenght ()
Decimal MipResources::UavPar::width ()
Decimal MipResources::UavPar::height ()
string MipResources::UavPar::name ()
string MipResources::UavPar::print ()
 MipResources::UavVar::UavVar ()
 default constructor
Time MipResources::UavVar::time ()
 Gets time of last measures.
void MipResources::UavVar::setPtammInitProxy (bool value)
bool MipResources::UavVar::getPtammInitProxy ()
Time MipResources::UavVar::quadTime ()
 Gets time of ?.
Position3D MipResources::UavVar::position ()
 Gets position.
Orientation3D MipResources::UavVar::attitude ()
 Gets attitude.
Velocity3D MipResources::UavVar::velocity ()
 Gets velocites in global frame.
Acceleration3D MipResources::UavVar::acceleration ()
 Gets accelerations in global frame.
Position3D MipResources::UavVar::omega ()
 Gets angular velocites in local frame.
Position3D MipResources::UavVar::localOmega ()
 Gets angular velocites in global frame.
Position3D MipResources::UavVar::localVelocity ()
 Gets velocites in local frame.
void MipResources::UavVar::setPositionVal (Decimal x, Decimal y, Decimal z)
void MipResources::UavVar::setPositionVal (Position3D &p)
void MipResources::UavVar::setAttitudeVal (Decimal roll, Decimal pitch, Decimal yaw)
void MipResources::UavVar::setVelocityVal (Decimal x, Decimal y, Decimal z)
void MipResources::UavVar::setOmegaVal (Decimal x, Decimal y, Decimal z)
void MipResources::UavVar::setLocalVelocityVal (Decimal x, Decimal y, Decimal z)
void MipResources::UavVar::setLocalOmegaVal (Decimal x, Decimal y, Decimal z)
void MipResources::UavVar::setTime (Time newTime)
 Sets time of last measures.
void MipResources::UavVar::setTimeQuad (Time newTime)
 Sets time of ?.
void MipResources::UavVar::setRemoteControlled (int newStatus)
 Set control status of uav.
int MipResources::UavVar::getRemoteControlled ()
 Returns control status of uav.
 MipResources::Uav::Uav ()
 MipResources::Uav::Uav (int argc, const char *argv[])
virtual UavPar * MipResources::Uav::getPar ()
 Gets uav parameters pointer.
virtual UavVar * MipResources::Uav::getVar ()
 Gets uav variables pointer.
virtual bool MipResources::Uav::setStatus (Orientation3D &oDes, Decimal &tdes)=0
 Sets Uav status.
virtual bool MipResources::Uav::setThrust (Decimal tdes)=0
 Sets Uav thrust.
virtual bool MipResources::Uav::setYaw (Angle yaw)=0
 Sets Uav yaw.
virtual bool MipResources::Uav::setPose (Pose3D &pDes, short ctrlIn=0)=0
 Sets Uav pose.
virtual bool MipResources::Uav::setAttitude (Orientation3D &oDes)=0
 Sets Uav attitude.
virtual bool MipResources::Uav::setPosition (Position3D p, Velocity3D v=Velocity3D(0.0, 0.0, 0.0), Acceleration3D a=Acceleration3D(0.0, 0.0, 0.0))=0
 Sets position value.
virtual bool MipResources::Uav::setVelocity (Velocity3D p, Acceleration3D a=Acceleration3D(0.0, 0.0, 0.0))=0
 Sets velocity vector value.
virtual bool MipResources::Uav::setAcceleration (Acceleration3D p)=0
 Sets acceleration value.
virtual bool MipResources::Uav::readPosition ()=0
 Gets position.
virtual bool MipResources::Uav::readVelocity ()=0
 Gets velocity.
virtual bool MipResources::Uav::readAttitude ()=0
 Gets attitude.
virtual bool MipResources::Uav::readAllData ()=0
 Read all data of interest.

Variables

IntOption * MipResources::asctecUavOptions::max_input
IntOption * MipResources::asctecUavOptions::fdata_send_rate
IntOption * MipResources::asctecUavOptions::read_rate
IntOption * MipResources::asctecUavOptions::send_rate
IntOption * MipResources::asctecUavOptions::ctrlin_send_rate
IntOption * MipResources::asctecUavOptions::ctrlfl_send_rate
IntOption * MipResources::asctecUavOptions::h_sonar_rate
IntOption * MipResources::asctecUavOptions::h_sonar_p_gain
IntOption * MipResources::asctecUavOptions::h_sonar_i_gain
IntOption * MipResources::asctecUavOptions::h_sonar_d_gain
DecimalOption * MipResources::asctecUavOptions::height_ref
StringOption * MipResources::asctecUavOptions::log_path
StringOption * MipResources::asctecUavOptions::log_name
BoolOption * MipResources::asctecUavOptions::make_log
BoolOption * MipResources::asctecUavOptions::use_ros
BoolOption * MipResources::asctecUavOptions::use_test
StringOption * MipResources::asctecUavOptions::ros_gains_sender_name
IntOption * MipResources::HummingBirdUavOptions::max_input
IntOption * MipResources::HummingBirdUavOptions::fdata_send_rate
IntOption * MipResources::HummingBirdUavOptions::read_rate
IntOption * MipResources::HummingBirdUavOptions::send_rate
IntOption * MipResources::HummingBirdUavOptions::ctrlin_send_rate
IntOption * MipResources::HummingBirdUavOptions::ctrlfl_send_rate
IntOption * MipResources::HummingBirdUavOptions::h_sonar_rate
IntOption * MipResources::HummingBirdUavOptions::h_sonar_p_gain
IntOption * MipResources::HummingBirdUavOptions::h_sonar_i_gain
IntOption * MipResources::HummingBirdUavOptions::h_sonar_d_gain
DecimalOption * MipResources::HummingBirdUavOptions::height_ref
StringOption * MipResources::HummingBirdUavOptions::log_path
StringOption * MipResources::HummingBirdUavOptions::log_name
BoolOption * MipResources::HummingBirdUavOptions::make_log
BoolOption * MipResources::HummingBirdUavOptions::use_ros
BoolOption * MipResources::HummingBirdUavOptions::use_test
StringOption * MipResources::HummingBirdUavOptions::ros_gains_sender_name
static const char * MipResources::UavModesNames [UAV_MODE_NUM]
Orientation3D MipResources::UavVar::_attitude
 Attitude values in global frame.
Velocity3D MipResources::UavVar::_velocity
 Actual velocity of robot in global frame.
Position3D MipResources::UavVar::_omega
 Attitude angular velocities in global frame.
Position3D MipResources::UavVar::_localVelocity
 Actual velocity of robot in local frame.
Position3D MipResources::UavVar::_localOmega
 Attitude angular velocities in local frame.
Time MipResources::UavVar::_lastTime
 Time of last measured values (pc time).
Time MipResources::UavVar::_lastTimeQuad
 Time of last measured values (as sent from quadrotor).
Acceleration3D MipResources::UavVar::_accel
bool MipResources::UavVar::ptammInitProxy
pthread_mutex_t MipResources::UavVar::_varMutex
int MipResources::UavVar::remCtrl
 Represent type of control active on uav.
Position3D MipResources::UavVar::desPosi
 Desired position.
Velocity3D MipResources::UavVar::desVel
 Desired velocity.
Acceleration3D MipResources::UavVar::desAcc
 Desired acceleration.
Orientation3D MipResources::UavVar::desAtt
 Desired attitude.
Decimal MipResources::UavVar::desThr
 Desired thrust.
Angle MipResources::UavVar::desYaw
 Desired yaw.
UavModes MipResources::UavVar::controlMode
 Uav control mode.
UavPar * MipResources::Uav::_par
UavVar * MipResources::Uav::_var
PositionDetector3D * MipResources::Uav::_gps
bool MipResources::Uav::gpsActive

Detailed Description

basic set of classes about an unmanned air vehicle

Enumeration Type Documentation

enum MipResources::UavModes

Enumerates the control modes of a Uav.

Author:
Antonio Franchi
Enumerator:
UAV_FREE_MODE 
UAV_POSITION_MODE 
UAV_VELOCITY_MODE 
UAV_ACCELERATION_MODE 
UAV_MODE_NUM 

Function Documentation

Acceleration3D UavVar::acceleration (  )  [inherited]

Gets accelerations in global frame.

Luca Ricci mod.

Returns:
Accelerations in global frame.
Luca Ricci mod.

MipResources::asctecUav::asctecUav ( int  argc,
const char **  argv 
) [inherited]

Constructor with arguments.

implement handshaking and ack sending from hummingbird

define variables in the namespace (asctecUavComm::CTRL_FLAGS_SEND_ENABLE_CONTROL)

MipResources::asctecUavOptions::asctecUavOptions (  )  [inline, inherited]

This should be an angle.

bool MipResources::HummingBirdUav::askExclusiveAccess ( Time  timeout  )  [inline, inherited]

Orientation3D UavVar::attitude (  )  [inherited]

Gets attitude.

Returns:
Attitude in global frame.

unsigned short MipResources::HummingBirdUavComm::crc16 ( void *  data,
unsigned short  cnt 
) [inherited]

Implements crc16 algorithm.

Parameters:
data Pointer to data to be checked.
cnt Number of updatese for crc16 (sizeof(data)). Check the implementation (and improve reliability)

bool MipResources::HummingBirdUav::ctrlAskExclusiveAccess ( Time  timeout  )  [inline, inherited]

void MipResources::HummingBirdUav::ctrlLeaveExclusiveAccess (  )  [inline, inherited]

void MipResources::HummingBirdUav::ctrlLoop (  )  [inherited]

void MipResources::asctecUav::ctrlLoop (  )  [inherited]

void MipResources::HummingBirdUav::dataLoop (  )  [inherited]

void MipResources::asctecUav::dataLoop (  )  [inherited]

void MipResources::HummingBirdUav::doClean (  )  [inline, inherited]

Orientation3D MipResources::HummingBirdUav::getAttitude ( Time &  t  )  [inline, inherited]

Gets Uav attitude.

Returns:
Orientation3D object.

Orientation3D MipResources::asctecUav::getAttitude ( Time &  t  )  [inline, inherited]

Gets Uav attitude.

Returns:
Orientation3D object.

HummingBirdUavComm* MipResources::HummingBirdUav::getCom (  )  [inline, inherited]

Gets HummingBirdUavComm pointer.

HummingBirdUavComm* MipResources::asctecUav::getCom (  )  [inline, inherited]

Gets asctecUavComm pointer.

string MipResources::UavOptions::getObjectName (  )  const [inline, virtual, inherited]

Gets the Name of the Options.

Returns:
The name the Options.

Implements Options.

string MipResources::HummingBirdUavComm::getObjectName (  )  const [inline, inherited]

Mandatory from MIPObject class.

string MipResources::HummingBirdUavOptions::getObjectName (  )  const [inline, virtual, inherited]

Gets the Name of the Options.

Returns:
The name the Options.

Implements Options.

string MipResources::asctecUavOptions::getObjectName (  )  const [inline, virtual, inherited]

Gets the Name of the Options.

Returns:
The name the Options.

Implements Options.

virtual UavPar* MipResources::Uav::getPar ( void   )  [inline, virtual, inherited]

Gets uav parameters pointer.

ResourcePlate MipResources::HummingBirdUav::getPlate (  )  const [inline, virtual, inherited]

Mandatory getPlate function (inherited from Resource class).

Implements MipResources::Resource.

ResourcePlate MipResources::asctecUav::getPlate (  )  const [inline, virtual, inherited]

Mandatory getPlate function (inherited from Resource class).

Implements MipResources::Resource.

uint MipResources::HummingBirdUavComm::getPort (  )  [inline, inherited]

getPort: returns serial port file descriptor.

Returns:
uint descriptor for serial port.

Position3D MipResources::HummingBirdUav::getPosition ( Time &  t  )  [inline, inherited]

Gets Uav position.

Returns:
Position3D object.

Position3D MipResources::asctecUav::getPosition ( Time &  t  )  [inline, inherited]

Gets Uav position.

Returns:
Position3D object.

bool MipResources::UavVar::getPtammInitProxy (  )  [inline, inherited]

int UavVar::getRemoteControlled (  )  [inherited]

Returns control status of uav.

virtual UavVar* MipResources::Uav::getVar ( void   )  [inline, virtual, inherited]

Gets uav variables pointer.

Decimal MipResources::UavPar::height (  )  [inline, inherited]

get width

MipResources::HummingBirdUav::HummingBirdUav ( int  argc,
const char **  argv 
) [inherited]

Constructor with arguments.

implement handshaking and ack sending from hummingbird

define variables in the namespace (HummingBirdUavComm::CTRL_FLAGS_SEND_ENABLE_CONTROL)

MipResources::HummingBirdUavComm::HummingBirdUavComm ( const char *  portname  )  [inherited]

Constructor with single parameter.

Parameters:
portname Name of the serial port linked to XBee communication device.

MipResources::HummingBirdUavComm::HummingBirdUavComm ( int  argc,
const char *  argv[] 
) [inherited]

Constructor with parameters.

Parameters:
portname Name of the serial port linked to XBee communication device.

MipResources::HummingBirdUavOptions::HummingBirdUavOptions (  )  [inline, inherited]

This should be an angle.

int MipResources::UavPar::id ( void   )  [inline, inherited]

get id

void MipResources::HummingBirdUav::leaveExclusiveAccess (  )  [inline, inherited]

Decimal MipResources::UavPar::lenght (  )  [inline, inherited]

get lenght

Position3D UavVar::localOmega (  )  [inherited]

Gets angular velocites in global frame.

Returns:
Angular velocites in global frame.

Position3D UavVar::localVelocity (  )  [inherited]

Gets velocites in local frame.

Returns:
Velocites in local frame.

string MipResources::UavPar::name (  )  [inline, inherited]

get name

Position3D UavVar::omega (  )  [inherited]

Gets angular velocites in local frame.

Returns:
Angular velocites in local frame.

UavPar& MipResources::UavPar::operator= ( const UavPar &  r  )  [inline, inherited]

assigment operator =

Position3D UavVar::position (  )  [inherited]

Gets position.

Returns:
Position in global frame.

string MipResources::UavPar::print (  )  [inline, inherited]

print params

Time UavVar::quadTime (  )  [inherited]

Gets time of ?.

Returns:
?.

virtual bool MipResources::Uav::readAllData (  )  [pure virtual, inherited]

Read all data of interest.

Implemented in MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::readAllData (  )  [inline, virtual, inherited]

Read all data of interest.

Implements MipResources::Uav.

virtual bool MipResources::Uav::readAttitude (  )  [pure virtual, inherited]

Gets attitude.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::readAttitude (  )  [inline, virtual, inherited]

Gets attitude.

Parameters:
t Time variable to store timestamp of pose.

Implements MipResources::Uav.

bool MipResources::asctecUav::readAttitude (  )  [inline, virtual, inherited]

Gets attitude.

Parameters:
t Time variable to store timestamp of pose.

Implements MipResources::Uav.

virtual bool MipResources::Uav::readPosition (  )  [pure virtual, inherited]

Gets position.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::readPosition (  )  [inline, virtual, inherited]

Gets pose.

Parameters:
t Time variable to store timestamp of pose.

Implements MipResources::Uav.

bool MipResources::asctecUav::readPosition (  )  [inline, virtual, inherited]

Gets pose.

Parameters:
t Time variable to store timestamp of pose.

Implements MipResources::Uav.

virtual bool MipResources::Uav::readVelocity (  )  [pure virtual, inherited]

Gets velocity.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::readVelocity (  )  [inline, virtual, inherited]

Gets velocity.

Parameters:
t Time variable to store timestamp of pose.

Implements MipResources::Uav.

bool MipResources::asctecUav::readVelocity (  )  [inline, virtual, inherited]

Gets velocity.

Parameters:
t Time variable to store timestamp of pose.

Implements MipResources::Uav.

int MipResources::HummingBirdUavComm::receive ( void *  buffer,
unsigned short  numChar 
) [inherited]

Low level function. Simply receive a specified number of chars on port.

Parameters:
buffer Pointer to buffer to store read data (note: memory should be allocated).
numChar number of characters to be read.
Returns:
An integer, number of read bytes, an error (negative) code otherwise.

int MipResources::HummingBirdUavComm::requestData ( unsigned short  dataType  )  [inherited]

Send a message of data request to the HummingBird.

Parameters:
dataType Code for data type, defined in HBstruct.h
Returns:
An integer, 0 if successfull, an error code otherwise.

int MipResources::HummingBirdUavComm::send ( void *  msg,
unsigned short  size 
) [inherited]

Low level function. Simply send an array of char on port.

Parameters:
msg Pointer to the message to be send.
Returns:
An integer, 0 if successfull, an error code otherwise.

virtual bool MipResources::Uav::setAcceleration ( Acceleration3D  p  )  [pure virtual, inherited]

Sets acceleration value.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::setAcceleration ( Acceleration3D  p  )  [inline, virtual, inherited]

Sets acceleration value.

Implements MipResources::Uav.

bool MipResources::asctecUav::setAcceleration ( Acceleration3D  p  )  [inline, virtual, inherited]

Sets acceleration value.

Implements MipResources::Uav.

virtual bool MipResources::Uav::setAttitude ( Orientation3D &  oDes  )  [pure virtual, inherited]

Sets Uav attitude.

Parameters:
oDes Orientation3D object mantaining desired attitude.
Returns:
true if successfull, false otherwise.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::setAttitude ( Orientation3D &  oDes  )  [virtual, inherited]

Sets Uav attitude.

Parameters:
oDes Orientation3D object mantaining desired attitude.
Returns:
true if successfull, false otherwise.

Implements MipResources::Uav.

bool MipResources::asctecUav::setAttitude ( Orientation3D &  oDes  )  [virtual, inherited]

Sets Uav attitude.

Parameters:
oDes Orientation3D object mantaining desired attitude.
Returns:
true if successfull, false otherwise.

Implements MipResources::Uav.

void UavVar::setAttitudeVal ( Decimal  roll,
Decimal  pitch,
Decimal  yaw 
) [inherited]

bool MipResources::HummingBirdUav::setControllersGains ( Decimal  height_pid_des[3]  )  [inherited]

Sets HummingBird Controllers Gains (see HBstructs.h).

Parameters:
height_pid_des Vector of Decimal (3 values) for PID height control ([0] = proportional; [1] = integral; [2] = derivative).
Returns:
true if successfull, false otherwise.

bool MipResources::asctecUav::setControllersGains ( Decimal  height_pid_des[3]  )  [inherited]

Sets asctec Controllers Gains (see HBstructs.h).

Parameters:
height_pid_des Vector of Decimal (3 values) for PID height control ([0] = proportional; [1] = integral; [2] = derivative).
Returns:
true if successfull, false otherwise.

bool MipResources::HummingBirdUav::setFiltersGains ( Decimal  sonar_h_filt_des[2]  )  [inherited]

Sets HummingBird Filters Gains (see HBstructs.h).

Parameters:
sonar_h_filt_des Vector of Decimal (2 values) for sonar measurements filter.
Returns:
true if successfull, false otherwise.

bool MipResources::asctecUav::setFiltersGains ( Decimal  sonar_h_filt_des[2]  )  [inherited]

Sets asctec Filters Gains (see HBstructs.h).

Parameters:
sonar_h_filt_des Vector of Decimal (2 values) for sonar measurements filter.
Returns:
true if successfull, false otherwise.

void MipResources::UavPar::setHeight ( Decimal  r  )  [inline, protected, inherited]

sets the height

Note:
it must be positive

void MipResources::UavPar::setId ( int  i  )  [inline, protected, inherited]

sets the id

Note:
it must be positive, zero means uninizializad

void MipResources::UavPar::setLength ( Decimal  r  )  [inline, protected, inherited]

sets the lenght

Note:
it must be positive

void UavVar::setLocalOmegaVal ( Decimal  x,
Decimal  y,
Decimal  z 
) [inherited]

void UavVar::setLocalVelocityVal ( Decimal  x,
Decimal  y,
Decimal  z 
) [inherited]

void MipResources::UavPar::setName ( string  n  )  [inline, protected, inherited]

sets the name

void UavVar::setOmegaVal ( Decimal  x,
Decimal  y,
Decimal  z 
) [inherited]

virtual bool MipResources::Uav::setPose ( Pose3D &  pDes,
short  ctrlIn = 0 
) [pure virtual, inherited]

Sets Uav pose.

Parameters:
pDes Pose3D object mantaining desired pose.
ctrlIn Enabling for roll,pitch,yaw thrust/height/GPS ctrl.
Returns:
true if successfull, false otherwise.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::setPose ( Pose3D &  pDes,
short  ctrlIn 
) [virtual, inherited]

Sets Uav pose.

Parameters:
pDes Pose3D object mantaining desired pose.
ctrlIn ctrl byte to enable roll, pitch, yaw, thrust/height/GPS control
Returns:
true if successfull, false otherwise.

Implements MipResources::Uav.

bool MipResources::asctecUav::setPose ( Pose3D &  pDes,
short  ctrlIn 
) [virtual, inherited]

Sets Uav pose.

Parameters:
pDes Pose3D object mantaining desired pose.
ctrlIn ctrl byte to enable roll, pitch, yaw, thrust/height/GPS control
Returns:
true if successfull, false otherwise.

Implements MipResources::Uav.

virtual bool MipResources::Uav::setPosition ( Position3D  p,
Velocity3D  v = Velocity3D(0.0, 0.0, 0.0),
Acceleration3D  a = Acceleration3D(0.0, 0.0, 0.0) 
) [pure virtual, inherited]

Sets position value.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::setPosition ( Position3D  p,
Velocity3D  v = Velocity3D(0.0,0.0,0.0),
Acceleration3D  a = Acceleration3D(0.0,0.0,0.0) 
) [virtual, inherited]

Sets position value.

Todo:
Add velocity and acceleration to data packet (in Hbstructs and in sdk.h onboard)

Implements MipResources::Uav.

bool MipResources::asctecUav::setPosition ( Position3D  p,
Velocity3D  v = Velocity3D(0.0,0.0,0.0),
Acceleration3D  a = Acceleration3D(0.0,0.0,0.0) 
) [virtual, inherited]

Sets position value.

Todo:
Add velocity and acceleration to data packet (in Hbstructs and in sdk.h onboard)

Implements MipResources::Uav.

void UavVar::setPositionVal ( Position3D &  p  )  [inherited]

void UavVar::setPositionVal ( Decimal  x,
Decimal  y,
Decimal  z 
) [inherited]

void MipResources::UavVar::setPtammInitProxy ( bool  value  )  [inline, inherited]

void UavVar::setRemoteControlled ( int  newStatus  )  [inherited]

Set control status of uav.

Parameters:
newStatus,: 0 onboard, 1 remote.

virtual bool MipResources::Uav::setStatus ( Orientation3D &  oDes,
Decimal &  tdes 
) [pure virtual, inherited]

Sets Uav status.

Parameters:
oDes Desired Attitude.
tDes Deisred thrust ( range [0,1] ).
Returns:
true if successfull, false otherwise.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::setStatus ( Orientation3D &  pDes,
Decimal &  tDes 
) [virtual, inherited]

Sets Uav status.

Parameters:
pDes Desired Pose.
tDes Deisred thrust ( range [0,1] ).
Returns:
true if successfull, false otherwise.

Implements MipResources::Uav.

bool MipResources::asctecUav::setStatus ( Orientation3D &  pDes,
Decimal &  tDes 
) [virtual, inherited]

Sets Uav status.

Parameters:
pDes Desired Pose.
tDes Deisred thrust ( range [0,1] ).
Returns:
true if successfull, false otherwise.

Implements MipResources::Uav.

virtual bool MipResources::Uav::setThrust ( Decimal  tdes  )  [pure virtual, inherited]

Sets Uav thrust.

Parameters:
tDes Decimal for thrust ( range [0,1] ).
Returns:
true if successfull, false otherwise.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::setThrust ( Decimal  tDes  )  [virtual, inherited]

Sets Uav thrust.

Parameters:
tDes Decimal for thrust ( range [0,1] ).
Returns:
true if successfull, false otherwise.

Implements MipResources::Uav.

bool MipResources::asctecUav::setThrust ( Decimal  tDes  )  [virtual, inherited]

Sets Uav thrust.

Parameters:
tDes Decimal for thrust ( range [0,1] ).
Returns:
true if successfull, false otherwise.

Implements MipResources::Uav.

void UavVar::setTime ( Time  newTime  )  [inherited]

Sets time of last measures.

Parameters:
t New time value.

void UavVar::setTimeQuad ( Time  newTime  )  [inherited]

Sets time of ?.

Parameters:
t New time value.

virtual bool MipResources::Uav::setVelocity ( Velocity3D  p,
Acceleration3D  a = Acceleration3D(0.0, 0.0, 0.0) 
) [pure virtual, inherited]

Sets velocity vector value.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::setVelocity ( Velocity3D  p,
Acceleration3D  a 
) [inline, virtual, inherited]

Sets speed value.

Implements MipResources::Uav.

bool MipResources::asctecUav::setVelocity ( Velocity3D  p,
Acceleration3D  a 
) [inline, virtual, inherited]

Sets speed value.

Implements MipResources::Uav.

void UavVar::setVelocityVal ( Decimal  x,
Decimal  y,
Decimal  z 
) [inherited]

void MipResources::UavPar::setWidth ( Decimal  r  )  [inline, protected, inherited]

sets the width

Note:
it must be positive

virtual bool MipResources::Uav::setYaw ( Angle  yaw  )  [pure virtual, inherited]

Sets Uav yaw.

Parameters:
yaw Angle for yaw.
Returns:
true if successfull, false otherwise.

Implemented in MipResources::asctecUav, and MipResources::HummingBirdUav.

bool MipResources::HummingBirdUav::setYaw ( Angle  yaw  )  [inline, virtual, inherited]

Sets Uav yaw.

Parameters:
yaw Angle for yaw.
Returns:
true if successfull, false otherwise.

Implements MipResources::Uav.

bool MipResources::asctecUav::setYaw ( Angle  yaw  )  [inline, virtual, inherited]

Sets Uav yaw.

Parameters:
yaw Angle for yaw.
Returns:
true if successfull, false otherwise.

Implements MipResources::Uav.

void MipResources::HummingBirdUav::startCtrlLoop (  )  [inline, inherited]

void MipResources::HummingBirdUav::startDataLoop (  )  [inline, inherited]

void MipResources::HummingBirdUav::stopCtrlLoop (  )  [inline, inherited]

void MipResources::HummingBirdUav::stopDataLoop (  )  [inline, inherited]

Time UavVar::time (  )  [inherited]

Gets time of last measures.

Returns:
Time variable.

int MipResources::HummingBirdUavComm::transmitControl ( struct LABROB_CTRL_INPUT &  ctrl  )  [inherited]

Transmits a single control sequence (control input).

Parameters:
ctrl Pointer to CONTROL_INPUT struct, defined in HBstructs.h
Returns:
An integer, 0 if successfull, an error code otherwise.

int MipResources::HummingBirdUavComm::transmitControlFlags ( struct LABROB_CTRL_FLAGS &  ctrl  )  [inherited]

Transmits a single control sequence (control flags).

Parameters:
ctrl Pointer to LABROB_CTRL_FLAGS struct, defined in HBstructs.h
Returns:
An integer, 0 if successfull, an error code otherwise.

int MipResources::HummingBirdUavComm::transmitControlGains ( struct LABROB_CONTROLLERS_GAINS &  ctrl  )  [inherited]

Transmits a single control sequence (controllers gains).

Parameters:
ctrl Pointer to LABROB_CONTROLLERS_GAINS struct, defined in HBstructs.h
Returns:
An integer, 0 if successfull, an error code otherwise.

int MipResources::HummingBirdUavComm::transmitFilterGains ( struct LABROB_FILTERS_GAINS &  ctrl  )  [inherited]

Transmits a single control sequence (filters gains).

Parameters:
ctrl Pointer to LABROB_FILTERS_GAINS struct, defined in HBstructs.h
Returns:
An integer, 0 if successfull, an error code otherwise.

int MipResources::HummingBirdUavComm::transmitPoseInput ( struct LABROB_POSE_INPUT &  ctrl  )  [inherited]

Transmits a single control sequence (pose informations).

Parameters:
ctrl Pointer to LABROB_POSE_INPUT struct, defined in HBstructs.h
Returns:
An integer, 0 if successfull, an error code otherwise.

MipResources::Uav::Uav ( int  argc,
const char *  argv[] 
) [inline, inherited]

options constructor (this is the constructor called using the scheduler)

MipResources::Uav::Uav (  )  [inline, inherited]

null constructor

MipResources::UavOptions::UavOptions (  )  [inline, inherited]

MipResources::UavPar::UavPar ( const UavPar &  r  )  [inline, inherited]

copy constructor

MipResources::UavPar::UavPar (  )  [inline, inherited]

default constructor

UavVar::UavVar (  )  [inherited]

default constructor

Velocity3D UavVar::velocity (  )  [inherited]

Gets velocites in global frame.

Returns:
Velocites in global frame.

int MipResources::HummingBirdUavComm::waitForData ( void *  dataP,
int &  packet_descriptor 
) [inherited]

Starts a loop waiting for data structs.

Parameters:
dataP Pointer to char[MAX_DATA_SIZE]
packet_descriptor Code for data type, defined in HBstruct.h
Returns:
int code for error, 0 if successfull

Check struct length is correct: struct_length[struct_d]

Decimal MipResources::UavPar::width (  )  [inline, inherited]

get width

MipResources::asctecUav::~asctecUav (  )  [inherited]

Destructor.

MipResources::HummingBirdUav::~HummingBirdUav (  )  [inherited]

Destructor.

MipResources::HummingBirdUavComm::~HummingBirdUavComm (  )  [inherited]

Destructor.

Variable Documentation

Acceleration3D MipResources::UavVar::_accel [protected, inherited]

Luca Ricci mod.

Orientation3D MipResources::UavVar::_attitude [protected, inherited]

Attitude values in global frame.

PositionDetector3D* MipResources::Uav::_gps [protected, inherited]

abstract Robot gps

Time MipResources::UavVar::_lastTime [protected, inherited]

Time of last measured values (pc time).

Time MipResources::UavVar::_lastTimeQuad [protected, inherited]

Time of last measured values (as sent from quadrotor).

Position3D MipResources::UavVar::_localOmega [protected, inherited]

Attitude angular velocities in local frame.

Position3D MipResources::UavVar::_localVelocity [protected, inherited]

Actual velocity of robot in local frame.

Position3D MipResources::UavVar::_omega [protected, inherited]

Attitude angular velocities in global frame.

UavPar* MipResources::Uav::_par [protected, inherited]

abstract Robot parameters

UavVar* MipResources::Uav::_var [protected, inherited]

abstract Robot variables

pthread_mutex_t MipResources::UavVar::_varMutex [protected, inherited]

Velocity3D MipResources::UavVar::_velocity [protected, inherited]

Actual velocity of robot in global frame.

UavModes MipResources::UavVar::controlMode [inherited]

Uav control mode.

IntOption* MipResources::HummingBirdUavOptions::ctrlfl_send_rate [inherited]

IntOption* MipResources::asctecUavOptions::ctrlfl_send_rate [inherited]

IntOption* MipResources::HummingBirdUavOptions::ctrlin_send_rate [inherited]

IntOption* MipResources::asctecUavOptions::ctrlin_send_rate [inherited]

Acceleration3D MipResources::UavVar::desAcc [inherited]

Desired acceleration.

Orientation3D MipResources::UavVar::desAtt [inherited]

Desired attitude.

Position3D MipResources::UavVar::desPosi [inherited]

Desired position.

Decimal MipResources::UavVar::desThr [inherited]

Desired thrust.

Velocity3D MipResources::UavVar::desVel [inherited]

Desired velocity.

Angle MipResources::UavVar::desYaw [inherited]

Desired yaw.

IntOption* MipResources::HummingBirdUavOptions::fdata_send_rate [inherited]

IntOption* MipResources::asctecUavOptions::fdata_send_rate [inherited]

bool MipResources::Uav::gpsActive [protected, inherited]

IntOption* MipResources::HummingBirdUavOptions::h_sonar_d_gain [inherited]

IntOption* MipResources::asctecUavOptions::h_sonar_d_gain [inherited]

IntOption* MipResources::HummingBirdUavOptions::h_sonar_i_gain [inherited]

IntOption* MipResources::asctecUavOptions::h_sonar_i_gain [inherited]

IntOption* MipResources::HummingBirdUavOptions::h_sonar_p_gain [inherited]

IntOption* MipResources::asctecUavOptions::h_sonar_p_gain [inherited]

IntOption* MipResources::HummingBirdUavOptions::h_sonar_rate [inherited]

IntOption* MipResources::asctecUavOptions::h_sonar_rate [inherited]

DecimalOption* MipResources::HummingBirdUavOptions::height_ref [inherited]

DecimalOption* MipResources::asctecUavOptions::height_ref [inherited]

StringOption* MipResources::HummingBirdUavOptions::log_name [inherited]

StringOption* MipResources::asctecUavOptions::log_name [inherited]

StringOption* MipResources::HummingBirdUavOptions::log_path [inherited]

StringOption* MipResources::asctecUavOptions::log_path [inherited]

BoolOption* MipResources::HummingBirdUavOptions::make_log [inherited]

BoolOption* MipResources::asctecUavOptions::make_log [inherited]

IntOption* MipResources::HummingBirdUavOptions::max_input [inherited]

IntOption* MipResources::asctecUavOptions::max_input [inherited]

bool MipResources::UavVar::ptammInitProxy [protected, inherited]

IntOption* MipResources::HummingBirdUavOptions::read_rate [inherited]

IntOption* MipResources::asctecUavOptions::read_rate [inherited]

int MipResources::UavVar::remCtrl [protected, inherited]

Represent type of control active on uav.

StringOption* MipResources::HummingBirdUavOptions::ros_gains_sender_name [inherited]

StringOption* MipResources::asctecUavOptions::ros_gains_sender_name [inherited]

IntOption* MipResources::HummingBirdUavOptions::send_rate [inherited]

IntOption* MipResources::asctecUavOptions::send_rate [inherited]

const char* MipResources::UavModesNames[UAV_MODE_NUM] [static]

Initial value:

 {
  "FreeMode",
  "PositionMode",
  "VelocityMode",
  "AccelerationMode"
 }

BoolOption* MipResources::HummingBirdUavOptions::use_ros [inherited]

BoolOption* MipResources::asctecUavOptions::use_ros [inherited]

BoolOption* MipResources::HummingBirdUavOptions::use_test [inherited]

BoolOption* MipResources::asctecUavOptions::use_test [inherited]

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