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# Position and (optional) heading setpoints with corresponding speed constraints
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# Setpoints are intended as inputs to position and heading smoothers, respectively
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# Setpoints do not need to be kinematically consistent
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# Optional heading setpoints may be specified as controlled by the respective flag
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# Unset optional setpoints are not controlled
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# Unset optional constraints default to vehicle specifications
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uint64 timestamp # time since system start (microseconds)
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# setpoints
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float32[3] position # [m] NED local world frame
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bool flag_control_heading # true if heading is to be controlled
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2023-11-16 11:30:09 -04:00
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float32 heading # (optional) [rad] [-pi,pi] from North
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2023-11-15 06:24:10 -04:00
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# constraints
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bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
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2023-11-15 06:24:10 -04:00
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float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
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bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
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2023-11-16 11:30:09 -04:00
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float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
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2023-11-15 06:24:10 -04:00
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bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
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2023-11-16 11:30:09 -04:00
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float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
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