Vehicle::ControllerStatus Struct Reference

Snapshot of controller status exposed to external callers. More...

#include <Vehicle.h>

Public Attributes
ControllerState	state
	Current controller state. More...
boost::uuids::uuid	request_uuid
	UUID of the most recently activated request. More...
double	timestamp
	ROS time at which this status was last updated. More...
double	progress
	Fractional trajectory progress in [0, 1], or -1 if not running. More...
uint8_t	risk_factor
	Thruster slowdown scale factor. More...
Pose	current_pose
	Most recent vehicle pose. More...
Vector6d	body_pose_error
	Most recent body-frame pose error [Δx, Δy, Δz, Δroll, Δpitch, Δyaw]. More...

Detailed Description

Snapshot of controller status exposed to external callers.

Member Data Documentation

body_pose_error

Vector6d Vehicle::ControllerStatus::body_pose_error

Most recent body-frame pose error [Δx, Δy, Δz, Δroll, Δpitch, Δyaw].

current_pose

Pose Vehicle::ControllerStatus::current_pose

Most recent vehicle pose.

progress

double Vehicle::ControllerStatus::progress

Fractional trajectory progress in [0, 1], or -1 if not running.

request_uuid

boost::uuids::uuid Vehicle::ControllerStatus::request_uuid

UUID of the most recently activated request.

risk_factor

uint8_t Vehicle::ControllerStatus::risk_factor

Thruster slowdown scale factor.

state

ControllerState Vehicle::ControllerStatus::state

Current controller state.

timestamp

double Vehicle::ControllerStatus::timestamp

ROS time at which this status was last updated.

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

• include/vehicle/Vehicle.h