Central vehicle abstraction managing the controller state machine, trajectory execution, force computation, and thrust allocation. More...

#include <Vehicle.h>

Classes
struct	ControllerStatus
	Snapshot of controller status exposed to external callers. More...

Public Types
enum class	ControllerState { DISABLED , STATIONKEEP , RUNNING }
	Possible operational states of the controller. More...

Public Member Functions
	Vehicle (std::shared_ptr< SystemDynamicsBase > system_dynamics, std::shared_ptr< ControllerConfig > controller_config, std::shared_ptr< VehicleControllerInterface > vehicle_controller, std::unique_ptr< ThrustAllocator > thrust_allocator)
	Constructs the vehicle with all required subsystems. More...

	~Vehicle ()
	Drains the pending request queue, fulfilling all unfulfilled promises. More...

	Vehicle (const Vehicle &)=delete

Vehicle &	operator= (const Vehicle &)=delete

	Vehicle (Vehicle &&)=delete

Vehicle &	operator= (Vehicle &&)=delete

request::RequestHandle< request::RequestHandleState::PENDING >	request_stationkeep ()
	Enqueues a request to enter the STATIONKEEP state. More...

request::RequestHandle< request::RequestHandleState::PENDING >	request_disable ()
	Enqueues a request to enter the DISABLED state. More...

request::RequestHandle< request::RequestHandleState::PENDING >	request_trajectory (std::unique_ptr< TrajectoryBase > trajectory)
	Enqueues a request to execute a trajectory. More...

ControllerStatus	get_controller_status () const
	Returns a thread-safe snapshot of the current controller status. More...

bool	is_disabled () const
	Returns true if the controller is currently in the DISABLED state. More...

bool	is_stationkeeping () const

void	process_pending (double t, const State &current_state, moodycamel::ConcurrentQueue< DebugMessage > &debug_queue)
	Drains the pending request queue and performs state transitions. More...

Vector6d	get_force (double t, double dt, const State &current_state)
	Samples the active trajectory and runs the controller to compute a body force. More...

std::tuple< bb_controls_msgs::msg::Thrusters, bb_controls_msgs::msg::ThrusterForces, Vector6d >	allocate_force (const Vector6d &force) const
	Allocates a body force vector to per-thruster PWM commands. More...

void	update_controller_status (const ControllerStatus &status)
	Writes a new controller status snapshot. More...

std::tuple< State, double >	get_state () const
	Returns the most recently stored vehicle state and its timestamp. More...

void	set_state (const State &state, double t)
	Stores a new vehicle state with its timestamp. More...

float	get_battery_voltage () const
	Returns the most recently stored battery voltage. More...

void	set_battery_voltage (float battery_voltage)
	Stores the current battery voltage. More...

double	get_trajectory_progress (double t) const
	Returns fractional trajectory progress for the active trajectory. More...

Vector6d	get_body_pose_error () const
	Returns the most recent body-frame pose error from the active controller. More...

void	update_saturation_cost (double yaw_xy, double z_rp)
	Updates the per-axis thruster saturation cost used for integral anti-windup. More...

Public Attributes
std::shared_ptr< SystemDynamicsBase >	system
	Shared vehicle dynamics model (set once in ctor, mutated via setters only) More...

std::shared_ptr< ControllerConfig >	controller_config
	Shared controller tuning parameters (set once in ctor, fields mutated by param callback) More...

std::shared_ptr< VehicleControllerInterface >	controller
	Active vehicle controller implementation (set once in ctor, called from control loop only) More...

std::unique_ptr< ThrustAllocator >	thrust_allocator
	Thrust allocator (set once in ctor, called from control loop and teleop callback) More...

std::shared_ptr< Trajectory6DOFLimits >	vehicle_limits
	Velocity and acceleration limits (set once in ctor, fields mutated by param callback) More...

Detailed Description

Central vehicle abstraction managing the controller state machine, trajectory execution, force computation, and thrust allocation.

Exposes two distinct APIs:

Producer API (called from ROS service/action callbacks): submits DISABLE, STATIONKEEP, or TRAJECTORY requests to a priority queue.
Consumer API (called exclusively from the control loop): drains the request queue, samples the active trajectory, runs the controller, and allocates forces to thrusters.

Thread safety: state and battery voltage are protected by shared mutexes. The request queue is protected by a plain mutex. All Consumer API methods must be called from a single thread.

Member Enumeration Documentation

◆ ControllerState

enum Vehicle::ControllerState

strong

Possible operational states of the controller.

Enumerator
DISABLED
STATIONKEEP
RUNNING

Constructor & Destructor Documentation

◆ Vehicle() [1/3]

Vehicle::Vehicle	(	std::shared_ptr< SystemDynamicsBase >	system_dynamics,
		std::shared_ptr< ControllerConfig >	controller_config,
		std::shared_ptr< VehicleControllerInterface >	vehicle_controller,
		std::unique_ptr< ThrustAllocator >	thrust_allocator
	)

Constructs the vehicle with all required subsystems.

Parameters

system_dynamics	[in] Vehicle dynamics model
controller_config	[in] Controller tuning parameters
vehicle_controller	[in] Controller implementation
thrust_allocator	[in] Thrust allocation subsystem

◆ ~Vehicle()

Vehicle::~Vehicle ( )

Drains the pending request queue, fulfilling all unfulfilled promises.

Prevents broken promises if any futures are still alive when the Vehicle is destroyed.

◆ Vehicle() [2/3]

Vehicle::Vehicle ( const Vehicle & )

delete

◆ Vehicle() [3/3]

Vehicle::Vehicle ( Vehicle && )

delete

Member Function Documentation

◆ allocate_force()

std::tuple< bb_controls_msgs::msg::Thrusters, bb_controls_msgs::msg::ThrusterForces, Vector6d > Vehicle::allocate_force ( const Vector6d & force ) const

Allocates a body force vector to per-thruster PWM commands.

Parameters

force [in] 6-element body force/torque vector in N and Nm

Returns: Tuple of (PWM command message, per-thruster force message, achieved body force)

◆ get_battery_voltage()

float Vehicle::get_battery_voltage ( ) const

Returns the most recently stored battery voltage.

Returns: Battery voltage in volts, or FLT_MAX if not yet set

◆ get_body_pose_error()

Vector6d Vehicle::get_body_pose_error ( ) const

Returns the most recent body-frame pose error from the active controller.

Returns: 6-element body-frame pose error vector

◆ get_controller_status()

Vehicle::ControllerStatus Vehicle::get_controller_status ( ) const

Returns a thread-safe snapshot of the current controller status.

Returns: Current ControllerStatus

◆ get_force()

Vector6d Vehicle::get_force	(	double	t,
		double	dt,
		const State &	current_state
	)

Samples the active trajectory and runs the controller to compute a body force.

Parameters

t	[in] Current ROS time in seconds
dt	[in] Time step in seconds since the last control tick
current_state	[in] Current vehicle state

Returns: 6-element body force/torque vector in N and Nm

◆ get_state()

std::tuple< State, double > Vehicle::get_state ( ) const

Returns the most recently stored vehicle state and its timestamp.

Returns: Tuple of (State, timestamp in seconds)

◆ get_trajectory_progress()

double Vehicle::get_trajectory_progress ( double t ) const

Returns fractional trajectory progress for the active trajectory.

Parameters

t	[in] Current ROS time in seconds

Returns: Progress in [0, 1], or -1 if no trajectory is running

◆ is_disabled()

bool Vehicle::is_disabled ( ) const

Returns true if the controller is currently in the DISABLED state.

Returns: True if disabled

◆ is_stationkeeping()

bool Vehicle::is_stationkeeping ( ) const

◆ operator=() [1/2]

Vehicle& Vehicle::operator= ( const Vehicle & )

delete

◆ operator=() [2/2]

Vehicle& Vehicle::operator= ( Vehicle && )

delete

◆ process_pending()

void Vehicle::process_pending	(	double	t,
		const State &	current_state,
		moodycamel::ConcurrentQueue< DebugMessage > &	debug_queue
	)

Drains the pending request queue and performs state transitions.

Priority: DISABLE > STATIONKEEP > TRAJECTORY. Automatically transitions a RUNNING trajectory to STATIONKEEP when the trajectory finishes.

Parameters

t	[in] Current ROS time in seconds
current_state	[in] Most recent vehicle state
debug_queue	[in,out] Queue to which trajectory visualisation messages are pushed

◆ request_disable()

request::RequestHandle< request::RequestHandleState::PENDING > Vehicle::request_disable ( )

Enqueues a request to enter the DISABLED state.

Returns: Handle containing the request UUID and an activation future

◆ request_stationkeep()

request::RequestHandle< request::RequestHandleState::PENDING > Vehicle::request_stationkeep ( )

Enqueues a request to enter the STATIONKEEP state.

Returns: Handle containing the request UUID and an activation future

◆ request_trajectory()

request::RequestHandle< request::RequestHandleState::PENDING > Vehicle::request_trajectory ( std::unique_ptr< TrajectoryBase > trajectory )

Enqueues a request to execute a trajectory.

The request is rejected (future resolved to false) if the controller is currently DISABLED when the control loop processes it.

Parameters

trajectory [in] Trajectory to execute; ownership is transferred

Returns: Handle containing the request UUID and an activation future

◆ set_battery_voltage()

void Vehicle::set_battery_voltage ( float battery_voltage )

Stores the current battery voltage.

Parameters

battery_voltage [in] Battery voltage in volts

◆ set_state()

void Vehicle::set_state	(	const State &	state,
		double	t
	)

Stores a new vehicle state with its timestamp.

Parameters

state	[in] New vehicle state
t	[in] State timestamp in seconds

◆ update_controller_status()

void Vehicle::update_controller_status ( const ControllerStatus & status )

Writes a new controller status snapshot.

Parameters

status [in] Status snapshot to store

◆ update_saturation_cost()

void Vehicle::update_saturation_cost	(	double	yaw_xy,
		double	z_rp
	)

Updates the per-axis thruster saturation cost used for integral anti-windup.

Parameters

yaw_xy	[in] Saturation cost for the X, Y, and Yaw axes
z_rp	[in] Saturation cost for the Z, Roll, and Pitch axes

Member Data Documentation

◆ controller

std::shared_ptr<VehicleControllerInterface> Vehicle::controller

Active vehicle controller implementation (set once in ctor, called from control loop only)

◆ controller_config

std::shared_ptr<ControllerConfig> Vehicle::controller_config

Shared controller tuning parameters (set once in ctor, fields mutated by param callback)

◆ system

std::shared_ptr<SystemDynamicsBase> Vehicle::system

Shared vehicle dynamics model (set once in ctor, mutated via setters only)

◆ thrust_allocator

std::unique_ptr<ThrustAllocator> Vehicle::thrust_allocator

Thrust allocator (set once in ctor, called from control loop and teleop callback)

◆ vehicle_limits

std::shared_ptr<Trajectory6DOFLimits> Vehicle::vehicle_limits

Velocity and acceleration limits (set once in ctor, fields mutated by param callback)

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

include/vehicle/Vehicle.h
src/vehicle/Vehicle.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ ControllerState

Constructor & Destructor Documentation

◆ Vehicle() [1/3]

◆ ~Vehicle()

◆ Vehicle() [2/3]

◆ Vehicle() [3/3]

Member Function Documentation

◆ allocate_force()

◆ get_battery_voltage()

◆ get_body_pose_error()

◆ get_controller_status()

◆ get_force()

◆ get_state()

◆ get_trajectory_progress()

◆ is_disabled()

◆ is_stationkeeping()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ process_pending()

◆ request_disable()

◆ request_stationkeep()

◆ request_trajectory()

◆ set_battery_voltage()

◆ set_state()

◆ update_controller_status()

◆ update_saturation_cost()

Member Data Documentation

◆ controller

◆ controller_config

◆ system

◆ thrust_allocator

◆ vehicle_limits