Classes
struct	PropulsionModel
Public Member Functions
void	addVoltageToQueue (const hector_uav_msgs::MotorPWMConstPtr &command)
void	configure (const std::string &ns="~")
void	engage ()
void	f (const double xin[4], const double uin[10], double dt, double y[14], double xpred[4]) const
const hector_uav_msgs::MotorStatus &	getMotorStatus () const
const hector_uav_msgs::Supply &	getSupply () const
const geometry_msgs::Wrench &	getWrench () const
bool	processQueue (const ros::Time &timestamp, const ros::Duration &tolerance=ros::Duration(), const ros::Duration &delay=ros::Duration(), const ros::WallDuration &wait=ros::WallDuration(), ros::CallbackQueue *callback_queue=0)
	QuadrotorPropulsion ()
void	reset ()
void	setInitialSupplyVoltage (double voltage)
void	setTwist (const geometry_msgs::Twist &twist)
void	setVoltage (const hector_uav_msgs::MotorPWM &command)
void	shutdown ()
void	update (double dt)
	~QuadrotorPropulsion ()
Private Attributes
boost::condition	command_condition_
std::queue < hector_uav_msgs::MotorPWMConstPtr >	command_queue_
boost::mutex	command_queue_mutex_
double	initial_voltage_
ros::Time	last_command_time_
hector_uav_msgs::MotorStatus	motor_status_
boost::mutex	mutex_
PropulsionModel *	propulsion_model_
hector_uav_msgs::Supply	supply_
geometry_msgs::Wrench	wrench_

Detailed Description

Definition at line 49 of file quadrotor_propulsion.h.

Constructor & Destructor Documentation

hector_quadrotor_model::QuadrotorPropulsion::QuadrotorPropulsion ( )

Definition at line 53 of file quadrotor_propulsion.cpp.

hector_quadrotor_model::QuadrotorPropulsion::~QuadrotorPropulsion ( )

Definition at line 60 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::addVoltageToQueue ( const hector_uav_msgs::MotorPWMConstPtr & command )

Definition at line 161 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::configure ( const std::string & ns = "~" )

Definition at line 70 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::engage ( )

Definition at line 281 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::f	(	const double	xin[4],
		const double	uin[10],
		double	dt,
		double	y[14],
		double	xpred[4]
	)		const `[inline]`

Definition at line 65 of file quadrotor_propulsion.cpp.

const hector_uav_msgs::MotorStatus& hector_quadrotor_model::QuadrotorPropulsion::getMotorStatus ( ) const [inline]

Definition at line 67 of file quadrotor_propulsion.h.

const hector_uav_msgs::Supply& hector_quadrotor_model::QuadrotorPropulsion::getSupply ( ) const [inline]

Definition at line 66 of file quadrotor_propulsion.h.

const geometry_msgs::Wrench& hector_quadrotor_model::QuadrotorPropulsion::getWrench ( ) const [inline]

Definition at line 65 of file quadrotor_propulsion.h.

bool hector_quadrotor_model::QuadrotorPropulsion::processQueue	(	const ros::Time &	timestamp,
		const ros::Duration &	tolerance = `ros::Duration()`,
		const ros::Duration &	delay = `ros::Duration()`,
		const ros::WallDuration &	wait = `ros::WallDuration()`,
		ros::CallbackQueue *	callback_queue = `0`
	)