connector

Planning.Interfaces.TrajectoryReferenceOutput

Time-indexed differentially flat reference for a flight controller

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
output	`valid`	`Boolean`	`(start = false)`	A plan has been accepted
output	`complete`	`Boolean`	`(start = false)`	The accepted plan reached its final waypoint
output	`sequence`	`Integer`	`(start = -1)`	Sequence number of the accepted plan
output	`activeSegment`	`Integer`	`(start = 1)`	One-based segment index
output	`trajectoryTime`	`Real`	`(unit = "s", start = 0.0)`	Time since the accepted plan began
output	`totalDuration`	`Real`	`(unit = "s", start = 0.0)`	Duration of the accepted plan
output	`position`	`Real`	`[3](each unit = "m", each start = 0.0)`
output	`velocity`	`Real`	`[3](each unit = "m/s", each start = 0.0)`
output	`acceleration`	`Real`	`[3](each unit = "m/s2", each start = 0.0)`
output	`jerk`	`Real`	`[3](each unit = "m/s3", each start = 0.0)`
output	`snap`	`Real`	`[3](each unit = "m/s4", each start = 0.0)`
output	`yaw`	`Real`	`(unit = "rad", start = 0.0)`
output	`yawRate`	`Real`	`(unit = "rad/s", start = 0.0)`
output	`yawAcceleration`	`Real`	`(unit = "rad/s2", start = 0.0)`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

connector TrajectoryReferenceOutput
    "Time-indexed differentially flat reference for a flight controller"
    output Boolean valid(start = false) "A plan has been accepted";
    output Boolean complete(start = false)
      "The accepted plan reached its final waypoint";
    output Integer sequence(start = -1) "Sequence number of the accepted plan";
    output Integer activeSegment(start = 1) "One-based segment index";
    output Real trajectoryTime(unit = "s", start = 0.0)
      "Time since the accepted plan began";
    output Real totalDuration(unit = "s", start = 0.0)
      "Duration of the accepted plan";
    output Real position[3](each unit = "m", each start = 0.0);
    output Real velocity[3](each unit = "m/s", each start = 0.0);
    output Real acceleration[3](each unit = "m/s2", each start = 0.0);
    output Real jerk[3](each unit = "m/s3", each start = 0.0);
    output Real snap[3](each unit = "m/s4", each start = 0.0);
    output Real yaw(unit = "rad", start = 0.0);
    output Real yawRate(unit = "rad/s", start = 0.0);
    output Real yawAcceleration(unit = "rad/s2", start = 0.0);
  end TrajectoryReferenceOutput;