API Documentation
Aerostack2
- aerostack2
differential_flatness_controller::Acro_commandPQRthrustAcroBridgeAcroBridge()acroCallback()gz_node_ptr_world_namename_spacesensor_namelink_namesensor_typeacro_sub_use_sim_time_acro_pub_as2::motionReferenceHandlers::ACROMotionACROMotion()~ACROMotion()sendACRO()as2::AerialPlatformAerialPlatform()AerialPlatform()~AerialPlatform()configureSensors()ownSendCommand()ownSetArmingState()ownSetOffboardControl()ownSetPlatformControlMode()ownTakeoff()ownLand()ownKillSwitch()ownStopPlatform()handleStateMachineEvent()handleStateMachineEvent()getArmingState()getConnectedStatus()getOffboardMode()getControlMode()isControlModeSettled()setArmingState()setOffboardControl()setPlatformControlMode()takeoff()land()alertEvent()sendCommand()resetPlatform()resetActuatorCommandMsgs()cmd_freq_info_freq_command_trajectory_msg_command_pose_msg_command_twist_msg_command_thrust_msg_platform_info_msg_has_new_references_initialize()loadControlModes()publishPlatformInfo()alertEventCallback()setPlatformControlModeSrvCall()setArmingStateSrvCall()setOffboardModeSrvCall()platformTakeoffSrvCall()platformLandSrvCall()listControlModesSrvCall()sending_commands_platform_cmd_timer_platform_info_timer_state_machine_available_control_modes_platform_info_pub_trajectory_command_sub_pose_command_sub_twist_command_sub_thrust_command_sub_alert_event_sub_set_platform_mode_srv_set_arming_state_srv_set_offboard_mode_srv_platform_takeoff_srv_platform_land_srv_list_control_modes_srv_AlphanumericViewerCallbackReturnAlphanumericViewer()run()setupNode()printSummaryMenu()printSensorMenu()printNavigationMenu()printPlatformMenu()printStream()printStream3()printStream()printSummaryValues()printNavigationValues()printSensorValues()printPlatformValues()printBattery()printQuadrotorState()printControlModeInYaw()printControlModeInControl()printControlModeInFrame()printControlModeOutYaw()printControlModeOutControl()printControlModeOutFrame()printPlatformStatus()clearValues()on_configure()on_deactivate()on_shutdown()poseCallback()twistCallback()batteryCallback()imuCallback()platformCallback()actuatorPoseCallback()actuatorThrustCallback()actuatorSpeedCallback()controllerCallback()poseReferenceCallback()speedReferenceCallback()gpsCallback()self_localization_pose_sub_self_localization_speed_sub_battery_sub_imu_sub_temperature_sub_status_sub_actuator_command_pose_sub_actuator_command_thrust_sub_actuator_command_twist_sub_controller_info_sub_position_reference_sub_speed_reference_sub_gps_sub_control_mode_sub_self_localization_pose_self_localization_twist_battery_status_imu_platform_info_actuator_pose_actuator_thrust_actuator_twist_controller_info_reference_pose_reference_twist_gps_battery_mode_interface_printout_streampinterface_printout_streambattery_auxaltitude_auxaltitude_sea_level_auxground_speed_auximu_auxtemperature_auxplatform_info_auxcurrent_speed_reference_auxcurrent_pose_reference_auxcurrent_trajectory_reference_auxactuator_command_pose_auxactuator_command_twist_auxactuator_command_thrust_auxcurrent_pose_auxcurrent_speed_auxcontroller_info_auxgps_auxthrust_auxlast_received_yaw_modelast_received_control_modelast_received_reference_framecommandwindowas2_behavior_tree::ArmServiceArmService()on_tick()on_completion()As2ExternalObjectToTfCallbackReturnAs2ExternalObjectToTf()setupNode()cleanupNode()run()on_configure()on_deactivate()on_shutdown()loadObjects()setupGPS()gpsToTransform()azimuthToQuaternion()azimuthPitchToQuaternion()publishPoseAsTransform()publishPoseAsTransform()poseCallback()gpsCallback()azimuthCallback()mocapCallback()addStaticTransform()addStaticTransformGps()origin_set_use_sim_timeconfig_path_mocap_topic_pose_subs_gps_subs_azimuth_subs_mocap_sub_setTrasformSrvsetTrasformGpsSrvorigin_objects_subscriptions_get_origin_srv_tfBroadcasterstaticTfBroadcastergps_handlergps_posesas2_platform_multirotor_simulator::As2MultirotorSimulatorInterfaceAs2MultirotorSimulatorInterface()~As2MultirotorSimulatorInterface()getParam()convertToOdom()convertToGroundTruth()processCommand()processCommand()processCommand()SimulatorSimulatorParamsKinematicsnode_ptr_tf_handler_frame_id_baselink_frame_id_odom_frame_id_earth_initial_position_initial_orientation_using_odom_for_control_AStarPlannerAStarPlanner()setOcuppancyGrid()setOriginPoint()setGoal()solveGraph()addNeighborsToVisit()findNextNodeToVisit()ocuppancy_grid_goal_origin_point_nodes_visited_nodes_to_visit_valid_movements_AStarSearcherupdate_grid()cellToPixel()cellToPixel()cellToPixel()pixelToCell()gridToImg()imgToGrid()calc_h_cost()calc_g_cost()hash_key()cell_in_limits()cell_occuppied()use_heuristic_AzimuthBridgeAzimuthBridge()ign_node_ptr_model_name_ignitionGroundTruthCallback()toEulerYaw()toAzimuth()ps_pub_as2::BasicBehaviorGoalHandleActionBasicBehavior()onAccepted()onCancel()onExecute()handleGoal()handleCancel()handleAccepted()execution_thread_action_server_as2::motionReferenceHandlers::BasicMotionReferenceHandlerBasicMotionReferenceHandler()~BasicMotionReferenceHandler()sendThrustCommand()sendPoseCommand()sendTwistCommand()sendTrajectoryCommand()checkMode()node_ptr_namespace_command_trajectory_msg_command_pose_msg_command_twist_msg_command_thrust_msg_desired_control_mode_setMode()number_of_instances_controller_info_sub_current_mode_command_traj_pub_command_pose_pub_command_twist_pub_command_thrust_pub_as2_behavior::BehaviorServerGoalHandleActionBehaviorStatusstart_srvmodify_srvresult_srvfeedback_msggoal_status_msgcancel_srvregister_action()handleGoal()handleCancel()handleAccepted()BehaviorServer()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_execution_end()on_run()activate()modify()deactivate()pause()resume()run()timer_callback()publish_behavior_status()action_name_action_server_goal_handle_behavior_status_generate_name()register_service_servers()register_publishers()register_timers()register_run_timer()cleanup_run_timer()start_srv_modify_srv_stop_srv_pause_srv_resume_srv_feedback_pub_goal_status_pub_behavior_status_pub_behavior_status_timer_run_timer_nav2_behavior_tree::BtActionNodeBtActionNode()BtActionNode()~BtActionNode()createActionClient()on_tick()on_wait_for_result()on_success()on_aborted()on_cancelled()tick()halt()providedBasicPorts()providedPorts()should_cancel_goal()send_new_goal()result_callback()is_future_goal_handle_complete()increment_recovery_count()action_name_action_client_goal_goal_updated_goal_result_available_goal_handle_result_feedback_node_callback_group_callback_group_executor_server_timeout_bt_loop_duration_future_goal_handle_time_goal_sent_nav2_behavior_tree::BtServiceNodeBtServiceNode()BtServiceNode()~BtServiceNode()tick()halt()on_tick()on_completion()check_future()on_wait_for_result()providedBasicPorts()providedPorts()increment_recovery_count()service_name_service_node_name_service_client_request_node_callback_group_callback_group_executor_server_timeout_bt_loop_duration_future_result_request_sent_sent_time_BucketPrioQueueBucketPrioQueue()clear()empty()push()pop()size()getNumBuckets()getTopPriority()BucketTypecountbucketsnextPopas2::sensors::CameraCamera()Camera()setParameters()~Camera()updateData()updateData()setCameraInfo()setCameraLinkTransform()setEncoding()readCameraInfoFromROSParameters()readCameraTranformFromROSParameters()setup()publishData()processParametersPrefix()convertVectorToArray()node_ptr_camera_base_topic_camera_link_frame_setup_encoding_camera_name_it_camera_publisher_ptr_image_data_camera_info_CellNodeCellNode()set_g_cost()coordinates()x()y()parent_ptr()get_g_cost()get_h_cost()get_total_cost()g_cost_h_cost_coordinates_parent_ptr_differential_flatness_controller::Control_flagsparameters_readstate_receivedref_receivedpid_speed_controller::Control_flagsstate_receivedref_receivedplugin_parameters_readposition_controller_parameters_readvelocity_controller_parameters_readspeed_in_a_plane_controller_parameters_readtrajectory_controller_parameters_readyaw_controller_parameters_readas2_motion_controller_plugin_base::ControllerBaseControllerBase()initialize()ownInitialize()updateState()updateReference()updateReference()updateReference()updateReference()computeOutput()setMode()updateParams()reset()getDesiredPoseFrameId()getDesiredTwistFrameId()~ControllerBase()getNodePtr()node_ptr_controller_handler::ControllerHandlerControllerHandler()~ControllerHandler()parametersCallback()getMode()setInputControlModesAvailables()setOutputControlModesAvailables()reset()node_ptr_stateCallback()refPoseCallback()refTwistCallback()refTrajCallback()refThrustCallback()platformInfoCallback()setControlModeSrvCall()listPlatformAvailableControlModes()controlTimerCallback()getFrameIdByReferenceFrame()findSuitableOutputControlModeForPlatformInputMode()checkSuitabilityInputMode()setPlatformControlMode()findSuitableControlModes()trySetPlatformHover()tryToBypassController()sendCommand()publishCommand()controller_available_modes_in_controller_available_modes_out_platform_available_modes_in_enu_frame_id_flu_frame_id_input_pose_frame_id_input_twist_frame_id_output_pose_frame_id_output_twist_frame_id_tf_handler_twist_sub_ref_pose_sub_ref_twist_sub_ref_traj_sub_ref_thrust_sub_platform_info_sub_trajectory_pub_thrust_pub_pose_pub_twist_pub_set_control_mode_srv_set_control_mode_client_list_control_modes_client_control_timer_control_mode_established_motion_reference_adquired_state_adquired_use_bypass_bypass_controller_prefered_output_mode_last_time_platform_info_control_mode_in_control_mode_out_state_pose_state_twist_ref_pose_ref_twist_ref_traj_ref_thrust_command_pose_command_twist_command_thrust_controller_ptr_controller_manager::ControllerManagerControllerManager()~ControllerManager()cmd_freq_configAvailableControlModes()modeTimerCallback()info_freq_plugin_name_available_modes_config_file_loader_controller_handler_controller_mode_pub_mode_timer_get_modified_options()DynamicVoronoi::dataCelldistvoronoiqueueingobstXobstYneedsRaisesqdistDetectArucoMarkersBehaviorDetectArucoMarkersBehavior()~DetectArucoMarkersBehavior()imageCallback()camerainfoCallback()loadParameters()setup()setCameraParameters()checkIdIsTarget()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_run()on_execution_end()cam_image_sub_cam_info_sub_aruco_pose_pub_aruco_img_transport_target_ids_aruco_size_camera_model_distorsion_model_camera_qos_reliable_camera_params_available_camera_matrix_dist_coeffs_aruco_dict_img_encoding_camera_image_topic_camera_info_topic_as2_behavior_tree::DisarmServiceDisarmService()on_tick()on_completion()DynamicPolynomialTrajectoryGeneratorDynamicPolynomialTrajectoryGenerator()~DynamicPolynomialTrajectoryGenerator()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_run()on_execution_end()timerUpdateFrameCallback()stateCallback()yawCallback()modifyWaypointCallback()setup()goalToDynamicWaypoint()evaluateTrajectory()evaluateSetpoint()updateFrame()computeYawAnglePathFacing()computeYawFaceReference()computeErrorFrames()plotTrajectory()plotTrajectoryThread()plotRefTrajPoint()state_sub_yaw_sub_mod_waypoint_sub_timer_update_frame_frequency_update_frame_trajectory_generator_hover_motion_handler_trajectory_motion_handler_tf_handler_base_link_frame_id_desired_frame_id_map_frame_id_sampling_n_sampling_dt_path_lenght_yaw_threshold_transform_threshold_yaw_speed_threshold_wp_close_threshold_yaw_mode_goal_feedback_result_has_yaw_from_topic_yaw_from_topic_init_yaw_angle_current_position_current_map_to_odom_transform_last_map_to_odom_transform_current_yaw_trajectory_command_eval_time_eval_time_yaw_time_zero_time_zero_yaw_first_run_has_odom_waypoints_to_set_time_debug_enable_debug_plot_thread_debug_path_pub_debug_waypoints_pub_debug_ref_point_pub_debug_end_ref_point_pub_DynamicVoronoiDynamicVoronoi()~DynamicVoronoi()initializeEmpty()initializeMap()occupyCell()clearCell()exchangeObstacles()update()prune()updateAlternativePrunedDiagram()alternativePrunedDiagram()getNumVoronoiNeighborsAlternative()isVoronoiAlternative()getDistance()isVoronoi()isOccupied()visualize()getSizeX()getSizeY()StatevoronoiKeepfreeQueuedvoronoiRetryvoronoiPrunefreeoccupiedQueueingStatefwNotQueuedfwQueuedfwProcessedbwQueuedbwProcessedObstDataStateinvalidObstDatamarkerMatchResultprunedkeepretrysetObstacle()removeObstacle()checkVoro()recheckVoro()commitAndColorize()reviveVoroNeighbors()isOccupied()markerMatch()markerMatchAlternative()getVoronoiPruneValence()openpruneQueuesortedPruneQueueremoveListaddListlastObstaclessizeYsizeXdatagridMapallocatedGridMappaddingdoubleThresholdsqrt2alternativeDiagramas2_behavior_tree::EchoEcho()tick()providedPorts()node_gz::sim::GZ_SIM_VERSION_NAMESPACE::systems::multicopter_control::EigenTwistlinearangularfollow_path_base::follow_path_plugin_paramsfollow_path_speedfollow_path_thresholdas2_behavior_tree::FollowPathActionFollowPathAction()on_tick()on_wait_for_result()providedPorts()path_max_speed_yaw_mode_follow_path_base::FollowPathBaseGoalHandleFollowPathFollowPathBase()~FollowPathBase()initialize()state_callback()platform_info_callback()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_execution_end()on_run()ownInit()own_activate()own_modify()own_deactivate()own_pause()own_resume()own_execution_end()own_run()getTargetPosition()sendHover()getActualYaw()node_ptr_tf_handlergoal_feedback_result_platform_state_params_actual_pose_localization_flag_processGoal()reset()hover_motion_handler_goal_accepted_FollowPathBehaviorGoalHandleFollowPathFollowPathBehavior()~FollowPathBehavior()state_callback()platform_info_callback()process_goal()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_run()on_execution_end()base_link_frame_id_loader_follow_path_plugin_tf_handler_twist_sub_platform_info_sub_FollowReferenceBehaviorGoalHandleFollowReferenceFollowReferenceBehavior()~FollowReferenceBehavior()state_callback()platform_info_callback()process_goal()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_run()on_execution_end()sendHover()getActualYaw()getState()computeYaw()checkGoal()actual_pose_actual_twistbase_link_frame_id_twist_sub_platform_info_sub_tf_handler_goal_feedback_result_position_motion_handler_hover_motion_handler_platform_state_localization_flag_gz::sim::GZ_SIM_VERSION_NAMESPACE::systems::multicopter_control::FrameDataangularVelocityBodygazebo_platform::GazeboPlatformGazeboPlatform()~GazeboPlatform()configureSensors()ownSendCommand()ownSetArmingState()ownSetOffboardControl()ownSetPlatformControlMode()ownKillSwitch()ownStopPlatform()ownTakeoff()ownLand()twist_pub_arm_pub_acro_pub_twist_state_sub_reset_srv_resetCommandTwistMsg()state_callback()reset_callback()control_in_yaw_rate_limit_enable_takeoff_enable_land_state_received_current_height_current_vertical_speed_tf_handler_as2::rate::GenericRateGenericRate()GenericRate()sleep()set_period()set_period()is_steady()reset()period()ClockDurationNanoperiod_last_interval_as2::sensors::GenericSensorGenericSensor()~GenericSensor()dataUpdated()publishData()timerCallback()timer_pub_freq_Geozones::geozonetypepolygonz_upz_downidalertdata_typeinGeozonesGeozones()setupNode()cleanupNode()run()loadGeozones()CallbackReturngpsCallback()poseCallback()setGeozoneCb()getGeozoneCb()rvizVisualizationCb()checkGeozones()checkValidity()findGeozoneId()setupGPS()on_configure()on_activate()on_deactivate()on_shutdown()start_run_origin_set_self_latitude_self_longitude_self_altitude_self_x_self_y_self_z_max_prioritygeofence_detectedconfig_path_rviz_visualization_point_geozones_gps_sub_pose_sub_alert_pub_rviz_pub_timer_set_geozone_srv_get_geozone_srv_origin_get_origin_srv_gps_handleras2_behavior_tree::GetOriginGetOrigin()on_tick()on_completion()providedPorts()as2::sensors::GimbalGimbal()~Gimbal()setGimbalBaseTransform()updateData()updateData()getGimbalFrameId()getGimbalBaseFrameId()publishData()gimbal_frame_id_gimbal_base_frame_id_gimbal_transform_point_gimbal_behavior::gimbal_statusorientationGimbalBridgeGimbalBridge()gimbalCmdCallback()gimbal_cmd_sub_gz_node_ptr_gimbal_roll_pubgimbal_pitch_pubgimbal_yaw_pubgzJointStateCallback()model_name_gimbal_name_sensor_name_control_mode_world_name_gimbal_attitude_pub_gimbal_angular_velocity_pub_clock_go_to_base::go_to_plugin_paramsgo_to_speedgo_to_thresholdas2_behavior_tree::GoToActionGoToAction()on_tick()on_wait_for_result()providedPorts()go_to_base::GoToBaseGoalHandleGoToGoToBase()~GoToBase()initialize()state_callback()platform_info_callback()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_execution_end()on_run()ownInit()own_activate()own_modify()own_deactivate()own_pause()own_resume()own_execution_end()own_run()sendHover()node_ptr_tf_handlergoal_feedback_result_platform_state_params_actual_pose_localization_flag_processGoal()hover_motion_handler_GoToBehaviorGoalHandleGoToGoToBehavior()~GoToBehavior()state_callback()platform_info_callback()process_goal()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_run()on_execution_end()base_link_frame_id_loader_go_to_plugin_tf_handler_twist_sub_platform_info_sub_as2_behavior_tree::GoToGpsActionGoToGpsAction()on_tick()on_wait_for_result()providedPorts()node_clientgeoposepointservice_name_gps_objectgps_poseazimuthGPSBridgeGPSBridge()ign_node_ptr_world_namename_spacesensor_namelink_namesensor_typereplace_delimiter()ignitionGPSCallback()use_sim_time_gps_pub_as2::gps::GpsHandlerGpsHandler()GpsHandler()setOrigin()setOrigin()setOrigin()getOrigin()getOrigin()LatLon2Local()LatLon2Local()LatLon2Local()LatLon2Local()LatLon2Local()LatLon2Local()Local2LatLon()Local2LatLon()Local2LatLon()Local2LatLon()LatLon2Ecef()LatLon2Ecef()LatLon2Ecef()LatLon2Ecef()LatLon2Ecef()LatLon2Ecef()Ecef2LatLon()Ecef2LatLon()Ecef2LatLon()Ecef2LatLon()local_frame_is_origin_set_as2_behavior_tree::GpsToCartesianGpsToCartesian()on_tick()on_completion()providedPorts()posegeoposegeopathGraphSearcherGraphSearcher()solve_graph()update_graph()calc_h_cost()calc_g_cost()hash_key()cell_in_limits()cell_occuppied()graph_use_heuristic_nodes_visited_nodes_to_visit_valid_movements_as2::sensors::GroundTruthGroundTruth()~GroundTruth()updateData()updateData()updateData()publishData()pose_sensor_twist_sensor_GroundTruthBridgeGroundTruthBridge()ign_node_ptr_model_name_replace_delimiter()ignitionGroundTruthCallback()pose_frame_id_twist_frame_id_ps_pub_ts_pub_as2::motionReferenceHandlers::HoverMotionHoverMotion()~HoverMotion()sendHover()indi_controller::IndiControllerIndiController()IndiController()~IndiController()acro_to_motor_angular_velocity()update_inertia()update_mixer_matrix_inverse()update_params()get_inertia()get_mixer_matrix_inverse()get_desired_angular_acceleration()get_desired_thrust()get_desired_torque()get_motor_angular_velocity()get_angular_velocity_error()inertia_mixer_matrix_inverse_desired_thrust_desired_torque_motor_angular_velocity_ScalarVector3Vector4Vector6VectorNMatrix3Matrix4Matrix6MatrixNMatrix6NPIDPIDParamsindi_controller::IndiControllerParamsMatrix3MatrixNPIDParamsinertiamixer_matrix_inversepid_paramsIntPointIntPoint()IntPoint()xyas2_behavior_tree::IsFlyingConditionIsFlyingCondition()IsFlyingCondition()tick()providedPorts()stateCallback()node_callback_group_callback_group_executor_state_sub_is_flying_land_base::land_plugin_paramsland_speedas2_behavior_tree::LandActionLandAction()on_tick()on_wait_for_result()providedPorts()land_base::LandBaseGoalHandleLandLandBase()~LandBase()initialize()state_callback()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_execution_end()on_run()ownInit()own_activate()own_modify()own_deactivate()own_pause()own_resume()own_execution_end()own_run()sendHover()node_ptr_tf_handlergoal_feedback_result_params_actual_pose_localization_flag_processGoal()hover_motion_handler_LandBehaviorGoalHandleLandPSMELandBehavior()~LandBehavior()state_callback()sendEventFSME()sendDisarm()process_goal()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_run()on_execution_end()base_link_frame_id_loader_land_plugin_tf_handler_twist_sub_platform_land_cli_platform_disarm_cli_as2_map_server::MapServerMapServer()~MapServer()on_configure()on_deactivate()on_shutdown()CallbackReturnplugin_name_loader_plugin_ptr_as2_map_server_plugin_base::MapServerBaseMapServerBase()setup()on_setup()node_ptr_gz::sim::GZ_SIM_VERSION_NAMESPACE::systems::MulticopterINDIControlMulticopterINDIControl()Configure()PreUpdate()RotorConfigurationOnACRO()OnEnable()PublishRotorVelocities()VehicleInertial()compute_mixer_matrix_4D()modelcomLinkNamecomLinkEntityrobotNamespacecommandSubTopicenableSubTopicnoderotorVelocitiesindiControllernoiseParametersacroVelMsgmaximumAngularVelocityacroVelMsgMutexrotorVelocitiesMsginitializedcontrollerActiveas2_platform_multirotor_simulator::MultirotorSimulatorPlatformMultirotorSimulatorPlatform()~MultirotorSimulatorPlatform()configureSensors()ownSetArmingState()ownSetOffboardControl()ownSetPlatformControlMode()ownSendCommand()ownStopPlatform()ownKillSwitch()ownTakeoff()ownLand()gimbalControlCallback()SimulatorSimulatorParamsKinematicsreadVectorParams()readParams()getParam()simulatorTimerCallback()simulatorControlTimerCallback()simulatorInertialOdometryTimerCallback()simulatorStateTimerCallback()as2_interface_gps_handler_platform_params_simulator_simulator_params_initial_position_control_state_using_odom_for_control_simulator_timer_simulator_control_timer_simulator_inertial_odometry_timer_simulator_state_pub_timer_frame_id_baselink_frame_id_earth_gimbal_desired_orientation_gimbal_control_sub_sensor_ground_truth_ptr_sensor_odom_estimate_ptr_sensor_imu_ptr_sensor_gps_ptr_sensor_gimbal_ptr_as2::NodeNode()Node()configure()activate()deactivate()cleanup()shutdown()error()generate_local_name()generate_global_name()create_timer()sleep()get_loop_frequency()preset_loop_frequency()CallbackReturnon_activate()on_deactivate()on_configure()on_cleanup()on_shutdown()on_error()init()loop_frequency_loop_rate_ptr_NodeNode()get_coordinates()get_parent()get_g_cost()get_h_cost()get_f_cost()operator int()computeCosts()g_cost_h_cost_f_cost_coordinates_parent_ptr_gz::sim::GZ_SIM_VERSION_NAMESPACE::systems::multicopter_control::NoiseParameterslinearVelocityMeanlinearVelocityStdDevangularVelocityMeanangularVelocityStdDevObjectFramePublisherObjectFramePublisher()subscriptionign_node_ptr_poseCallback()tfBroadcasterworld_frame_model_name_world_nameuse_sim_time_as2_behavior_tree::OffboardServiceOffboardService()on_tick()on_completion()as2::gps::OriginAlreadySetOriginAlreadySet()as2::gps::OriginNonSetOriginNonSet()PathPlannerBehaviorPathPlannerBehavior()~PathPlannerBehavior()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_run()on_execution_end()drone_pose_cbk()follow_path_response_cbk()follow_path_feedback_cbk()follow_path_result_cbk()yaw_mode_goal_feedback_result_enable_visualization_enable_path_optimizer_drone_pose_safety_distance_path_navigation_aborted_follow_path_feedback_follow_path_rejected_follow_path_succeeded_plugin_name_loader_path_planner_plugin_drone_pose_sub_viz_pub_follow_path_client_follow_path_pause_client_follow_path_resume_client_tf_buffer_tf_listener_pid_controller::PIDPID()~PID()update_pid_params()reset_controller()set_output_saturation()disable_output_saturation()compute_control()compute_control()get_params()set_gains()get_gains()set_gains_kp()get_gains_kp()set_gains_ki()get_gains_ki()set_gains_kd()get_gains_kd()set_anti_windup()get_anti_windup()set_alpha()get_alpha()set_reset_integral_saturation_flag()get_reset_integral_saturation_flag()set_proportional_saturation_flag()get_proportional_saturation_flag()get_saturation_limits()get_output_saturation_flag()get_proportional_error()get_derivative_error()get_proportional_error_contribution()get_integral_error_contribution()get_derivative_error_contribution()get_output()get_error()get_error()saturate_output()compute_integral_contribution()compute_derivative_contribution_by_deriving()compute_derivative_contribution()verbose_Kp_lin_mat_Ki_lin_mat_Kd_lin_mat_antiwindup_cte_alpha_reset_integral_flag_saturation_flag_proportional_saturation_flag_upper_output_saturation_lower_output_saturation_first_run_integral_accum_error_filtered_derivate_error_proportional_error_derivative_error_proportional_error_contribution_integral_error_contribution_derivate_error_contribution_output_ScalarVectorMatrixpid_controller::PIDParamsVectorMatrixKp_gainsKi_gainsKd_gainsantiwindup_ctealphareset_integral_flagproportional_saturation_flagupper_output_saturationlower_output_saturationas2_platform_multirotor_simulator::PlatformParamsupdate_freqcontrol_freqinertial_odometry_freqstate_freqimu_pub_freqodometry_pub_freqground_truth_pub_freqgps_pub_freqgimbal_pub_freqlatitudelongitudealtitudeas2::PlatformStateMachinePlatformStateMachine()~PlatformStateMachine()processEvent()processEvent()getTransition()getState()setState()setState()defineTransitions()setStateMachineEventSrvCallback()eventToString()stateToString()transitions_state_node_ptr_state_machine_event_srv_a_star::Plugininitialize()on_activate()on_deactivate()on_modify()on_pause()on_resume()on_execution_end()on_run()occ_grid_cbk()get_path_marker()a_star_searcher_last_occ_grid_safety_distance_use_path_optimizer_enable_visualization_occ_grid_sub_viz_pub_viz_obstacle_grid_pub_differential_flatness_controller::PluginPlugin()~Plugin()ownInitialize()updateState()updateReference()setMode()computeOutput()updateParams()reset()getDesiredPoseFrameId()getDesiredTwistFrameId()checkParamList()updateDFParameter()resetState()resetReferences()resetCommands()computeActions()getOutput()getForce()computeTrajectoryControl()uav_state_control_ref_control_command_flags_hover_flag_control_mode_in_control_mode_out_Kp_Kd_Ki_Kp_ang_mat_accum_pos_error_mass_antiwindup_cte_odom_frame_id_base_link_frame_id_gravitational_accel_parameters_list_parameters_to_read_follow_path_plugin_position::PluginownInit()own_activate()own_modify()own_deactivate()own_pause()own_resume()own_execution_end()own_run()getTargetPosition()processYaw()updateDesiredPose()checkGoalCondition()position_motion_handler_path_ids_path_ids_remaining_initial_yaw_desired_pose_desired_twist_follow_path_plugin_trajectory::PluginownInit()own_activate()own_modify()own_deactivate()own_pause()own_resume()own_execution_end()own_run()getTargetPosition()feedback_callback()result_callback()TrajectoryGeneratorActionGoalHandleTrajectoryGeneratorfollowPathGoalToTrajectoryGeneratorGoal()traj_gen_client_traj_gen_pause_client_traj_gen_resume_client_traj_gen_goal_options_traj_gen_goal_handle_future_traj_gen_goal_accepted_traj_gen_result_received_traj_gen_result_desired_pose_go_to_plugin_position::PluginownInit()own_activate()own_modify()own_deactivate()own_pause()own_resume()own_execution_end()own_run()checkGoalCondition()getActualYaw()computeYaw()position_motion_handler_go_to_plugin_trajectory::PluginownInit()own_activate()own_modify()own_deactivate()own_pause()own_resume()own_execution_end()own_run()feedback_callback()result_callback()TrajectoryGeneratorActionGoalHandleTrajectoryGeneratorgoToGoalToTrajectoryGeneratorGoal()traj_gen_client_traj_gen_pause_client_traj_gen_resume_client_traj_gen_goal_options_traj_gen_goal_handle_future_traj_gen_feedback_traj_gen_goal_accepted_traj_gen_result_received_traj_gen_result_ground_truth::PluginPlugin()on_setup()generate_map_frame_from_gps()generate_map_frame_from_ground_truth_pose()pose_callback()twist_callback()getOriginCallback()setOriginCallback()gps_callback()pose_sub_twist_sub_gps_sub_set_origin_srv_get_origin_srv_use_gps_set_origin_on_start_earth_to_map_set_origin_lat_origin_lon_origin_alt_earth_to_map_origin_gps_pose_using_gazebo_tf_ground_truth_odometry_fuse::PluginPlugin()on_setup()getTransform()odomCallback()groundTruthCallback()rigidBodiesCallback()odom_sub_ground_truth_sub_rigid_bodies_sub_ground_truth_odom_rigid_body_name_earth_to_map_map_to_odom_odom_to_baselink_map_to_earth_set_land_plugin_platform::PluginownInit()own_activate()own_deactivate()own_execution_end()own_run()platform_land_cli_platform_land_request_platform_land_future_land_plugin_speed::PluginownInit()own_activate()own_modify()own_deactivate()own_pause()own_resume()own_execution_end()own_run()checkGoalCondition()speed_motion_handler_time_land_speed_condition_percentage_land_speed_condition_height_speed_condition_time_condition_initial_height_land_plugin_trajectory::PluginownInit()own_activate()own_modify()own_deactivate()own_pause()own_resume()own_execution_end()own_run()feedback_callback()result_callback()TrajectoryGeneratorActionGoalHandleTrajectoryGeneratorcheckGoalCondition()landGoalToTrajectoryGeneratorGoal()traj_gen_client_traj_gen_pause_client_traj_gen_resume_client_traj_gen_goal_options_traj_gen_goal_handle_future_traj_gen_feedback_traj_gen_goal_accepted_traj_gen_result_received_traj_gen_result_time_land_speed_condition_percentage_land_speed_condition_height_speed_condition_time_condition_initial_height_land_height_mocap_pose::PluginPlugin()on_setup()twist_from_pose()twist_msg_rigid_bodies_callback()process_mocap_pose()rigid_bodies_sub_earth_to_map_map_to_odom_odom_to_base_has_earth_to_map_mocap_topic_rigid_body_name_twist_alpha_orientation_alpha_last_pose_msg_pid_speed_controller::PluginPlugin()~Plugin()ownInitialize()updateState()updateReference()updateReference()updateReference()setMode()getDesiredPoseFrameId()getDesiredTwistFrameId()computeOutput()updateParams()reset()PIDPID_1DcheckParamList()updateControllerParameter()updateController3DParameter()updateSpeedInAPlaneParameter()resetState()resetReferences()resetCommands()getOutput()control_mode_in_control_mode_out_flags_pid_yaw_handler_pid_3D_position_handler_pid_3D_velocity_handler_pid_1D_speed_in_a_plane_handler_pid_3D_speed_in_a_plane_handler_pid_3D_trajectory_handler_tf_handler_plugin_parameters_list_position_control_parameters_list_velocity_control_parameters_list_speed_in_a_plane_control_parameters_list_trajectory_control_parameters_list_yaw_control_parameters_list_plugin_parameters_to_read_position_control_parameters_to_read_velocity_control_parameters_to_read_speed_in_a_plane_control_parameters_to_read_trajectory_control_parameters_to_read_yaw_control_parameters_to_read_uav_state_control_ref_control_command_hover_flag_speed_limits_yaw_speed_limit_use_bypass_proportional_limitation_enu_frame_id_flu_frame_id_input_pose_frame_id_input_twist_frame_id_output_twist_frame_id_raw_odometry::PluginPlugin()on_setup()generate_map_frame_from_gps()odom_callback()getOriginCallback()setOriginCallback()gps_callback()odom_sub_gps_sub_set_origin_srv_get_origin_srv_use_gps_set_origin_on_start_earth_to_map_height_origin_lat_origin_lon_origin_alt_set_map_to_odom_earth_to_map_origin_gps_pose_scan2occ_grid::PluginPlugin()on_setup()on_laser_scan()publish_map()bresenham_line()is_cell_index_valid()add_occ_grid_update()filter_occ_grid()point_to_cell()grid_to_img()img_to_grid()scan_range_max_map_resolution_hit_confidence_miss_confidence_map_width_map_height_occ_grid_laser_sub_map_pub_map_filtered_pub_tf_buffer_tf_listener_takeoff_plugin_platform::PluginownInit()own_activate()own_deactivate()own_execution_end()own_run()platform_takeoff_cli_platform_takeoff_request_platform_takeoff_future_takeoff_plugin_position::PluginownInit()own_activate()own_modify()own_deactivate()own_execution_end()own_run()checkGoalCondition()position_motion_handler_takeoff_position_takeoff_angle_takeoff_plugin_speed::PluginownInit()own_activate()own_modify()own_deactivate()own_execution_end()own_run()checkGoalCondition()speed_motion_handler_takeoff_plugin_trajectory::PluginownInit()own_activate()own_modify()own_deactivate()own_execution_end()own_run()feedback_callback()result_callback()TrajectoryGeneratorActionGoalHandleTrajectoryGeneratortakeoffGoalToTrajectoryGeneratorGoal()traj_gen_client_traj_gen_goal_options_traj_gen_goal_handle_future_traj_gen_feedback_traj_gen_goal_accepted_traj_gen_result_received_traj_gen_result_voronoi::Plugininitialize()on_activate()on_deactivate()on_modify()on_pause()on_resume()on_execution_end()on_run()occ_grid_cbk()outline_map()update_dynamic_voronoi()update_costs()viz_voronoi_grid()viz_dist_field_grid()get_path_marker()dynamic_voronoi_last_size_x_last_size_y_mutex_graph_searcher_last_occ_grid_last_dist_field_grid_enable_visualization_occ_grid_sub_viz_pub_viz_voronoi_grid_pub_viz_dist_field_grid_pub_as2_behaviors_path_planning::PluginBaseinitialize()on_activate()on_deactivate()on_modify()on_pause()on_resume()on_execution_end()on_run()~PluginBase()path_PluginBase()node_ptr_tf_buffer_Point2iPoint2i()Point2i()operator==()operator!=()xypoint_gimbal_behavior::PointGimbalBehaviorPointGimbalBehavior()~PointGimbalBehavior()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_run()on_execution_end()check_gimbal_limits()update_gimbal_state()check_finished()tf_handler_base_link_frame_id_gimbal_name_gimbal_base_frame_id_gimbal_frame_id_gimbal_threshold_goal_init_time_behavior_timeout_gimbal_roll_min_gimbal_roll_max_gimbal_pitch_min_gimbal_pitch_max_gimbal_yaw_min_gimbal_yaw_max_desired_goal_position_current_goal_position_gimbal_angles_current_gimbal_control_msg_gimbal_control_pub_as2::motionReferenceHandlers::PositionMotionPositionMotion()~PositionMotion()ownSendCommand()sendPositionCommandWithYawAngle()sendPositionCommandWithYawAngle()sendPositionCommandWithYawAngle()sendPositionCommandWithYawSpeed()sendPositionCommandWithYawSpeed()AzimuthBridge::Quaternionwxyzas2::rate::RateBaseis_steady()reset()set_period()real_sense_interface::RealsenseInterfaceRealsenseInterface()stop()run()setup()setupCamera()runImu()runPose()runOdom()runColor()identifyDevice()identifySensors()setStaticTransform()setupPoseTransforms()realsense_name_verbose_device_not_found_imu_available_depth_available_color_available_fisheye_available_pose_available_serial_pipe_pose_sensor_imu_sensor_color_sensor_accel_frame_gyro_frame_pose_frame_color_frame_tf_static_broadcaster_tf2_fix_transforms_rs_odom2rs_link_tf_base_link_frame_odom_frame_realsense_link_frame_color_sensor_frame_imu_sensor_frame_base_link_to_realsense_link_base_link_to_realsense_pose_odom_realsense_link_to_realsense_pose_realsense_link_to_realsense_pose_odom_realsense_pose_gz::sim::GZ_SIM_VERSION_NAMESPACE::systems::multicopter_control::RotoranglearmLengthforceConstantmomentConstantdirectionas2_behavior_tree::SendEventSendEvent()tick()providedPorts()node_callback_group_callback_group_executor_pub_topic_name_as2::sensors::SensorSensor()Sensor()Sensor()~Sensor()updateData()publishData()as2::sensors::SensorDataSensorData()~SensorData()setData()publish()updateAndPublish()getTopicName()getData()getDataRef()processTopicName()sensor_publisher_msg_data_topic_name_SetArmingStateBehaviorSetArmingStateBehavior()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_execution_end()on_run()client_future_SetEntityPoseBridgeSetEntityPoseBridge()setEntityPoseServiceCallback()gz_node_ptr_world_name_set_entity_pose_serviceps_sub_ps_srv_sub_SetOffboardModeBehaviorSetOffboardModeBehavior()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_execution_end()on_run()client_future_as2_behavior_tree::SetOriginSetOrigin()on_tick()on_completion()providedPorts()as2::motionReferenceHandlers::SpeedInAPlaneMotionSpeedInAPlaneMotion()~SpeedInAPlaneMotion()ownSendCommand()sendSpeedInAPlaneCommandWithYawSpeed()sendSpeedInAPlaneCommandWithYawSpeed()sendSpeedInAPlaneCommandWithYawAngle()sendSpeedInAPlaneCommandWithYawAngle()sendSpeedInAPlaneCommandWithYawAngle()sendSpeedInAPlaneCommandWithYawAngle()sendSpeedInAPlaneCommandWithYawAngle()sendSpeedInAPlaneCommandWithYawSpeed()as2::motionReferenceHandlers::SpeedMotionSpeedMotion()~SpeedMotion()ownSendCommand()sendSpeedCommandWithYawAngle()sendSpeedCommandWithYawAngle()sendSpeedCommandWithYawAngle()sendSpeedCommandWithYawSpeed()sendSpeedCommandWithYawSpeed()as2_state_estimator::StateEstimatorStateEstimator()~StateEstimator()plugin_name_loader_plugin_ptr_tf_broadcaster_tfstatic_broadcaster_tf_handler_get_modified_options()as2_state_estimator_plugin_base::StateEstimatorBaseStateEstimatorBase()setup()on_setup()get_earth_to_map_transform()check_standard_transform()publish_transform()publish_static_transform()publish_twist()publish_pose()get_earth_frame()get_map_frame()get_odom_frame()get_base_frame()set_earth_frame()set_map_frame()set_odom_frame()set_base_frame()get_earth_to_map_transform()convert_earth_to_baselink_2_odom_to_baselink_transform()convert_odom_to_baselink_2_earth_to_baselink_transform()node_ptr_tf_handler_tf_broadcaster_static_tf_broadcaster_twist_pub_pose_pub_odom_to_baselinkearth_to_mapmap_to_odomearth_to_baselinkstatic_transforms_published_static_transforms_timer_earth_frame_id_base_frame_id_odom_frame_id_map_frame_id_earth_to_map_map_to_odom_odom_to_base_as2::StateMachineTransitiontransition_namefrom_state_idtransition_idto_state_idmbzirc::SuctionGripperPluginSuctionGripperPlugin()~SuctionGripperPlugin()Configure()PreUpdate()dataPtrmbzirc::SuctionGripperPrivateOnContact()OnCmd()childItemlinkNamejointgripperEntitynodesuctionOnpendingJointCreationjointCreatedmtxcontactscontactPublisherCentercontactPublisherLeftcontactPublisherRightcontactPublisherTopcontactPublisherBottomas2::SynchronousServiceClientSharedPtrSynchronousServiceClient()sendRequest()sendRequest()RequestTResponseTservice_name_node_callback_group_callback_group_executor_service_client_takeoff_base::takeoff_plugin_paramstakeoff_heighttakeoff_speedtakeoff_thresholdas2_behavior_tree::TakeoffActionTakeoffAction()on_tick()on_success()on_wait_for_result()action_name_providedPorts()takeoff_base::TakeoffBaseGoalHandleTakeoffTakeoffBase()~TakeoffBase()initialize()state_callback()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_execution_end()on_run()ownInit()own_activate()own_modify()own_deactivate()own_pause()own_resume()own_execution_end()own_run()sendHover()node_ptr_tf_handlergoal_feedback_result_params_actual_pose_localization_flag_processGoal()hover_motion_handler_TakeoffBehaviorGoalHandleTakeoffPSMETakeoffBehavior()~TakeoffBehavior()state_callback()sendEventFSME()process_goal()on_activate()on_modify()on_deactivate()on_pause()on_resume()on_run()on_execution_end()base_link_frame_id_loader_takeoff_plugin_tf_handler_twist_sub_platform_cli_as2_rviz_plugins::TeleopPanelTeleopPanel()load()save()takeofflanddisarmhoverkillupdateDroneNsdrone_editor_takeoff_button_land_button_hover_button_kill_button_drone_namespace_node_node2_arming_client_offboard_client_takeoff_client_land_client_alert_pub_hover_handler_as2::sensors::TFDynamicTFDynamic()~TFDynamic()setDynamicTransform()setDynamicTransform()setDynamicTransform()getTransformBroadcaster()getNode()node_ptr_dynamic_tf_broadcaster_ptr_as2::tf::TfHandlerTfHandler()setTfTimeoutThreshold()setTfTimeoutThreshold()getTfTimeoutThreshold()getTfBuffer()convert()convert()convert()convert()convert()convert()getPoseStamped()getPoseStamped()getPoseStamped()getPoseStamped()getQuaternionStamped()getQuaternionStamped()getQuaternionStamped()getQuaternionStamped()getTransform()tryConvert()tryConvert()getState()getState()tf_buffer_tf_listener_node_tf_timeout_threshold_as2::sensors::TFStaticTFStatic()~TFStatic()setStaticTransform()setStaticTransform()setStaticTransform()getNode()setStaticTransform_()node_ptr_as2::motionReferenceHandlers::TrajectoryMotionTrajectoryMotion()~TrajectoryMotion()sendTrajectoryCommandWithYawAngle()sendTrajectoryCommandWithYawAngle()sendTrajectoryCommandWithYawAngle()sendTrajectorySetpoints()pid_speed_controller::UAV_commandvelocityyaw_speeddifferential_flatness_controller::UAV_referencepositionvelocityaccelerationyawdifferential_flatness_controller::UAV_statepositionvelocityattitude_statepid_speed_controller::UAV_statepositionvelocityyawusb_camera_interface::UsbCameraInterfaceUsbCameraInterface()~UsbCameraInterface()captureImage()setupCamera()camera_cap_gz::sim::GZ_SIM_VERSION_NAMESPACE::systems::multicopter_control::VehicleParametersmassinertiagravityrotorConfigurationVoronoiSearcherupdate_voronoi()calc_h_cost()calc_g_cost()hash_key()cell_in_limits()cell_occuppied()as2_behavior_tree::WaitForAlertWaitForAlert()providedPorts()tick()callback()node_callback_group_callback_group_executor_sub_topic_name_flag_as2_behavior_tree::WaitForEventWaitForEvent()providedPorts()tick()callback()node_callback_group_callback_group_executor_sub_topic_name_flag_a_staras2EventRateWallRatespinLoop()as2::control_modeconvertAS2ControlModeToUint8t()convertUint8tToAS2ControlMode()controlModeToString()controlModeToString()convertToUint8t()convertToUint8t()compareModes()compareModes()isUnsetMode()isUnsetMode()isHoverMode()isHoverMode()printControlMode()printControlMode()as2::frametransform()transform()transform()transform()transformInverse()transformInverse()transformInverse()transformInverse()quaternionToEuler()quaternionToEuler()quaternionToEuler()eulerToQuaternion()eulerToQuaternion()eulerToQuaternion()getYawFromQuaternion()getYawFromQuaternion()getYawFromQuaternion()getVector2DAngle()wrapAngle0To2Pi()wrapAnglePiToPi()angleMinError()as2::gpsEcef2LatLon()earthglobal_frameas2::motionReferenceHandlersas2::rateas2::sensorsOdometryImuGPSLidarBatteryBarometerCompassRangeFinderas2::tfgenerateTfName()generateTfName()getTransformation()as2::yamlget_project_export_path_from_xml_path()find_yaml_files_inside()find_tag_across_multiple_yaml_files()parse_uint_from_string()parse_uint_from_string()find_tag_in_yaml_node()find_tag_in_yaml_file()find_tag_from_project_exports_path()search_tag_across_multiple_yaml_files()as2_behaviorExecutionStatusSUCCESSRUNNINGFAILUREABORTEDas2_behavior_treeas2_behaviors_path_planningas2_map_serverCallbackReturnas2_map_server_plugin_baseas2_motion_controller_plugin_baseas2_namesas2_names::actionsas2_names::actions::behaviorstakeoffgotowaypointfollowreferencefollowpathlandtrajectorygeneratoras2_names::servicesset_speedas2_names::services::behaviorpackage_pickuppackage_unpickdynamic_landdynamic_followeras2_names::services::controllerset_control_modelist_control_modesas2_names::services::gpsget_originset_originpath_to_geopathgeopath_to_pathas2_names::services::motion_referencesend_traj_waypadd_traj_waypset_traj_speedas2_names::services::platformset_arming_stateset_offboard_modeset_platform_control_modetakeofflandset_platform_state_machine_eventlist_control_modesas2_names::topicsas2_names::topics::actuator_commandqosposetwistthrusttrajectoryas2_names::topics::controllerqos_infoinfoas2_names::topics::follow_targetqos_infoinfoas2_names::topics::globalqosalert_eventas2_names::topics::ground_truthqosposetwistas2_names::topics::motion_referenceqosqos_waypointqos_trajectorythrustposetwisttrajectorymodify_waypointtraj_gen_infoas2_names::topics::platformqosinfoas2_names::topics::self_localizationqosodomposetwistas2_names::topics::sensor_measurementsqosbaseimulidargpscamerabatteryodomas2_platform_multirotor_simulatoras2_rviz_pluginsas2_state_estimatoras2_state_estimator_plugin_baseBTconvertFromString()controller_handlercheckMatchWithMask()findBestMatchWithMask()controller_managerdifferential_flatness_controllerfollow_path_basefollow_path_plugin_positionfollow_path_plugin_trajectorygazebo_platformGeographicLibgo_to_basego_to_plugin_positiongo_to_plugin_trajectoryground_truthground_truth_odometry_fusegzgz::simgz::sim::GZ_SIM_VERSION_NAMESPACEgz::sim::systemsgz::sim::GZ_SIM_VERSION_NAMESPACE::systems::multicopter_controlRotorConfigurationloadRotorConfiguration()createFrameDataComponents()getFrameData()ignitionignition::gazeboindi_controllersqrt_keep_sign()land_baseland_plugin_platformland_plugin_speedland_plugin_trajectorymbzircmocap_posenav2_behavior_treepid_controllerpid_speed_controllerPnpolyisEqual()getConvexHull()isIn()point_gimbal_behaviorraw_odometryrclcppreal_sense_interfacerviz_commonscan2occ_gridstdstd::chrono_literalstakeoff_basetakeoff_plugin_platformtakeoff_plugin_positiontakeoff_plugin_speedtakeoff_plugin_trajectoryusb_camera_interfaceutilspointToCell()poseToCell()cellToPoint()cellToPoint()voronoimain()CellNodePtrNodePtrconvertPointToInt()FREE_SPACEOCC_SPACEUNKNOWN_SPACEMAX_DISTINTPOINTtargetIds2string()main()generateDynamicPoint()AS2_RCLCPP_NODEAS2_LIFECYLCE_NODEAS2_NODE_FATHERAS2_NODE_FATHER_TYPEMATCH_ALLMATCH_CONTROL_MODEMATCH_YAW_MODEMATCH_REFERENCE_FRAMEUNSET_MODE_MASKHOVER_MODE_MASKPYBIND11_MODULE()MATCH_MODE_AND_FRAMEMATCH_MODEMATCH_MODE_AND_YAWASCII_KEY_UPASCII_KEY_DOWNASCII_KEY_RIGHTASCII_KEY_LEFTCallbackReturn