Public Member Functions | Protected Member Functions | Protected Attributes
Quadrotor_tk_Handler Class Reference

#include <Quadrotor_tk_Handler.h>

Inheritance diagram for Quadrotor_tk_Handler:
Inheritance graph
[legend]

List of all members.

Public Member Functions

unsigned int getObjectType () const
void handleSimulation ()
 Quadrotor_tk_Handler ()
void synchronize ()
 ~Quadrotor_tk_Handler ()

Protected Member Functions

void _initialize ()
void tkCommandsCallback (const telekyb_msgs::TKCommands::ConstPtr &msg)
void tkMotorCommandsCallback (const telekyb_msgs::TKMotorCommands::ConstPtr &msg)

Protected Attributes

simFloat _att_cutoff
simFloat _att_damping
CustomDataHeaders::QuadrotorCtrlMode _ctrlMode
int _handleOfCoM
int _handleOfJoint [4]
float _integralTermPitch
float _integralTermRoll
simFloat _jointPosition [4][3]
simFloat _kp_yaw
ros::Time _lastPrintedMsg
ros::Time _lastReceivedCmdTime
ros::Time _previousTime
ros::Publisher _pub
ros::Publisher _pubIMU
simFloat _quadrotorMass
ros::Subscriber _sub
telekyb_msgs::TKCommands _tkCommands
std::vector< double > _tkMotorCommands
float _torqueToForceRatio

Detailed Description

Handler of a Quadrotor object for use with Telekyb2. It automatically subscribes to telekyb_msgs::TKMotorCommands messages for receiveng thrust commands to apply to the four propellers. It also publishes the status of the quadrotor using telekyb_msgs::TKState messages.

Definition at line 30 of file Quadrotor_tk_Handler.h.


Constructor & Destructor Documentation

Definition at line 16 of file Quadrotor_tk_Handler.cpp.

Definition at line 34 of file Quadrotor_tk_Handler.cpp.


Member Function Documentation

void Quadrotor_tk_Handler::_initialize ( ) [protected, virtual]

Implements GenericObjectHandler.

Definition at line 381 of file Quadrotor_tk_Handler.cpp.

unsigned int Quadrotor_tk_Handler::getObjectType ( ) const [virtual]

Implements GenericObjectHandler.

Definition at line 37 of file Quadrotor_tk_Handler.cpp.

Implements GenericObjectHandler.

Definition at line 135 of file Quadrotor_tk_Handler.cpp.

Reimplemented from GenericObjectHandler.

Definition at line 69 of file Quadrotor_tk_Handler.cpp.

void Quadrotor_tk_Handler::tkCommandsCallback ( const telekyb_msgs::TKCommands::ConstPtr &  msg) [protected]

Callback for thrust/roll/pitch/yaw command (TKCommands) message reception.

Parameters:
msgReceived thrust/roll/pitch/yaw command message.

Definition at line 519 of file Quadrotor_tk_Handler.cpp.

void Quadrotor_tk_Handler::tkMotorCommandsCallback ( const telekyb_msgs::TKMotorCommands::ConstPtr &  msg) [protected]

Callback for force command (TKMotorCommands) message reception.

Parameters:
msgReceived force command message.

Definition at line 509 of file Quadrotor_tk_Handler.cpp.


Member Data Documentation

simFloat Quadrotor_tk_Handler::_att_cutoff [protected]

Internal roll/pitch control cutoff frequency.

Definition at line 117 of file Quadrotor_tk_Handler.h.

simFloat Quadrotor_tk_Handler::_att_damping [protected]

Internal roll/pitch control damping factor.

Definition at line 122 of file Quadrotor_tk_Handler.h.

Quadrotor control mode. See QuadrotorCtrlMode.

Definition at line 132 of file Quadrotor_tk_Handler.h.

Handle of the robot CoM.

Definition at line 67 of file Quadrotor_tk_Handler.h.

Handles of the four propellers.

Definition at line 62 of file Quadrotor_tk_Handler.h.

Definition at line 52 of file Quadrotor_tk_Handler.h.

The following variables are needed for the Integral part of the PID (roll and pitch respectively)

Definition at line 51 of file Quadrotor_tk_Handler.h.

simFloat Quadrotor_tk_Handler::_jointPosition[4][3] [protected]

Position of the four propellers w.r.t. the robot CoM.

Definition at line 77 of file Quadrotor_tk_Handler.h.

simFloat Quadrotor_tk_Handler::_kp_yaw [protected]

Internal yaw rate control proportional gain.

Definition at line 127 of file Quadrotor_tk_Handler.h.

Timer for printing messages.

Definition at line 102 of file Quadrotor_tk_Handler.h.

Timer for received commands.

Definition at line 97 of file Quadrotor_tk_Handler.h.

This variable is needed to store the previousTime to perform an Integral of the angles to use an Integral part into the controller.

Definition at line 47 of file Quadrotor_tk_Handler.h.

Publisher for the robot status.

Definition at line 82 of file Quadrotor_tk_Handler.h.

Publisher for the robot status.

Definition at line 87 of file Quadrotor_tk_Handler.h.

Handle of the robot CoM.

Definition at line 72 of file Quadrotor_tk_Handler.h.

Subscriber for force commands.

Definition at line 92 of file Quadrotor_tk_Handler.h.

telekyb_msgs::TKCommands Quadrotor_tk_Handler::_tkCommands [protected]

Last received TKCommands message.

Definition at line 112 of file Quadrotor_tk_Handler.h.

std::vector<double> Quadrotor_tk_Handler::_tkMotorCommands [protected]

Last received TKMotorCommands commands.

Definition at line 107 of file Quadrotor_tk_Handler.h.

Ratio between force ( $ f$) and torque ( $\tau$) produced by the propeller, i.e. $\tau = \alpha f$

Definition at line 57 of file Quadrotor_tk_Handler.h.


The documentation for this class was generated from the following files:


quadrotor_tk_handler
Author(s):
autogenerated on Sat May 9 2015 13:16:55