ModeBase< ActionT > Class Template Reference

Generic template class for a custom PX4 mode. More...

#include <auto_apms_px4/mode.hpp>

Private Member Functions
virtual void	updateSetpointWithGoal (float dt_s, std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Feedback > feedback_ptr, std::shared_ptr< Result > result_ptr)=0

Detailed Description

template<class ActionT>
class auto_apms_px4::ModeBase< ActionT >

Generic template class for a custom PX4 mode.

The workspace must define a ROS 2 action providing the corresponding goal, feedback and result message types.

For the user to be able to execute custom PX4 modes that are created by inheriting from this class, a corresponding ModeExecutorFactory must be defined.

Template Parameters

ActionT

Type of the ROS 2 action.

Definition at line 41 of file mode.hpp.

Member Function Documentation

updateSetpointWithGoal()

template<class ActionT>

virtual void updateSetpointWithGoal ( float dt_s, std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Feedback > feedback_ptr, std::shared_ptr< Result > result_ptr )

privatepure virtual

The following methods MUST call the special 'completed' method when the mode is finished to gracefully exit the mode.

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

• auto-apms-px4/auto_apms_px4/include/auto_apms_px4/mode.hpp