Move vehicle to the specific position (waypoint). More...

Inheritance diagram for ugcs::vsm::Move_action:

Public Types
enum	Turn_type { TURN_TYPE_STOP_AND_TURN = 0, TURN_TYPE_STRAIGHT = 1, TURN_TYPE_SPLINE = 2, TURN_TYPE_BANK_TURN = 3 }
	Turn type at waypoint.

typedef std::shared_ptr < Move_action >	Ptr
	Pointer type.

typedef std::weak_ptr < Move_action >	Weak_ptr
	Pointer type.

Public Types inherited from ugcs::vsm::Action
enum	Type { Type::MOVE, Type::WAIT, Type::PAYLOAD_STEERING, Type::TAKEOFF, Type::LANDING, Type::CHANGE_SPEED, Type::SET_HOME, Type::POI, Type::HEADING, Type::CAMERA_CONTROL, Type::CAMERA_TRIGGER, Type::PANORAMA, Type::TASK_ATTRIBUTES, Type::CAMERA_SERIES_BY_TIME, Type::CAMERA_SERIES_BY_DISTANCE, Type::SET_PARAMETER, Type::SET_SERVO, Type::REPEAT_SERVO, Type::VTOL_TRANSITION }
	Types of vehicle actions as part of task (mission). More...

typedef std::shared_ptr< Action >	Ptr
	Pointer type.

typedef std::weak_ptr< Action >	Weak_ptr
	Pointer type.

Public Member Functions
	Move_action (Wgs84_position position, double wait_time, double acceptance_radius, double loiter_orbit, double heading, double elevation)
	Construct move action explicitly. More...

	Move_action (const Property_list &p)
	Construct move action from protobuf command.

Public Member Functions inherited from ugcs::vsm::Action
	VSM_DEFINE_EXCEPTION (Format_exception)
	Thrown when internal action representation is in a wrong format. More...

	Action (Type type)
	Construct action of specific type. More...

virtual	~Action ()
	Make sure Action is polymorphic. More...

Type	Get_type () const
	Get action type. More...

void	Set_id (int id)

std::string	Get_name ()
	Get human readable name of the action. More...

template<Type type_val>
Mapper< type_val >::type::Ptr	Get_action ()
	Get pointer to specific action as determined by Get_type. More...

Static Public Member Functions
template<typename... Args>
static Ptr	Create (Args &&...args)
	Create an instance. More...

Static Public Member Functions inherited from ugcs::vsm::Action
template<typename... Args>
static Ptr	Create (Args &&...args)
	Create an instance. More...

Public Attributes
Wgs84_position	position
	Target global position of the movement.

double	wait_time = 0
	Wait interval in seconds. More...

double	acceptance_radius = 0
	Acceptance radius of the target position in meters. More...

double	loiter_orbit = 0
	Radius of the point fly-by orbit in meters. More...

double	heading = 0
	Heading in radians.

double	elevation = 0
	Elevation in meters (i.e. More...

Turn_type	turn_type

Public Attributes inherited from ugcs::vsm::Action
int	command_id = -1

Detailed Description

Move vehicle to the specific position (waypoint).

Constructor & Destructor Documentation

ugcs::vsm::Move_action::Move_action	(	Wgs84_position	position,
		double	wait_time,
		double	acceptance_radius,
		double	loiter_orbit,
		double	heading,
		double	elevation
	)

inline

Construct move action explicitly.

template<typename... Args>

static Ptr ugcs::vsm::Move_action::Create ( Args &&... args )

inlinestatic

Create an instance.

double ugcs::vsm::Move_action::acceptance_radius = 0

Acceptance radius of the target position in meters.

When the sphere with the radius centered at the target position is hit by the vehicle the target position is considered reached.

double ugcs::vsm::Move_action::elevation = 0

Elevation in meters (i.e.

terrain height) underneath the position.

double ugcs::vsm::Move_action::loiter_orbit = 0

Radius of the point fly-by orbit in meters.

Positive value stands for the CW direction, negative - CCW. Use

0

for no-braking pass through the target point.

double ugcs::vsm::Move_action::wait_time = 0

Wait interval in seconds.

Shows how long the vehicle should stay/hold at the target position.

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