Skip to content

Commit

Permalink
add PositionHeadingSetpoint.msg
Browse files Browse the repository at this point in the history
  • Loading branch information
Thomas Stastny committed Oct 9, 2023
1 parent 77d7b97 commit 85347e3
Showing 1 changed file with 25 additions and 0 deletions.
25 changes: 25 additions & 0 deletions msg/PositionHeadingSetpoint.msg
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
# Position and heading setpoints and translational and heading rate constraints
# Input to position and heading smoothers
# Setpoints do not need to be kinematically consistent
# Optional inputs may be specified as controlled by the respective flags
# Unset optional setpoints are not controlled
# Unset optional constraints default to vehicle specifications

uint64 timestamp # time since system start (microseconds)

# setpoints
float32[3] position # [m] NED local world frame
float32 heading # (optional) [rad] [-pi,pi] from North

# setpoint flags
bool flag_control_heading # true if heading is to be controlled

# constraints
float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)

# constraint flags
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
bool flag_set_max_heading_rate # true if setting a non-default heading rate limit

0 comments on commit 85347e3

Please sign in to comment.