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mav_msgs Namespace Reference

Namespaces

namespace  default_topics

Classes

struct  EigenActuators
struct  EigenAttitudeThrust
class  EigenMavState
 Container holding the state of a MAV: position, velocity, attitude and angular velocity. In addition, holds the acceleration expressed in body coordinates, which is what the accelerometer usually measures. More...
struct  EigenOdometry
struct  EigenRateThrust
struct  EigenRollPitchYawrateThrust
struct  EigenTorqueThrust
struct  EigenTrajectoryPoint

Functions

void eigenActuatorsFromMsg (const Actuators &msg, EigenActuators *actuators)
void eigenAttitudeThrustFromMsg (const AttitudeThrust &msg, EigenAttitudeThrust *attitude_thrust)
void EigenMavStateFromEigenTrajectoryPoint (const Eigen::Vector3d &acceleration, const Eigen::Vector3d &jerk, const Eigen::Vector3d &snap, double yaw, double yaw_rate, double yaw_acceleration, double magnitude_of_gravity, Eigen::Quaterniond *orientation, Eigen::Vector3d *acceleration_body, Eigen::Vector3d *angular_velocity_body, Eigen::Vector3d *angular_acceleration_body)
 Computes the MAV state (position, velocity, attitude, angular velocity, angular acceleration) from the flat state. Additionally, computes the acceleration expressed in body coordinates, i.e. the acceleration measured by the IMU. No air-drag is assumed here.
void EigenMavStateFromEigenTrajectoryPoint (const Eigen::Vector3d &acceleration, const Eigen::Vector3d &jerk, const Eigen::Vector3d &snap, double yaw, double yaw_rate, double yaw_acceleration, Eigen::Quaterniond *orientation, Eigen::Vector3d *acceleration_body, Eigen::Vector3d *angular_velocity_body, Eigen::Vector3d *angular_acceleration_body)
void EigenMavStateFromEigenTrajectoryPoint (const EigenTrajectoryPoint &flat_state, double magnitude_of_gravity, EigenMavState *mav_state)
void EigenMavStateFromEigenTrajectoryPoint (const EigenTrajectoryPoint &flat_state, EigenMavState *mav_state)
 Convenience function with EigenTrajectoryPoint as input and EigenMavState as output with default value for the magnitude of the gravity vector.
void eigenOdometryFromMsg (const nav_msgs::Odometry &msg, EigenOdometry *odometry)
void eigenRateThrustFromMsg (const RateThrust &msg, EigenRateThrust *rate_thrust)
void eigenRollPitchYawrateThrustFromMsg (const RollPitchYawrateThrust &msg, EigenRollPitchYawrateThrust *roll_pitch_yawrate_thrust)
void eigenTorqueThrustFromMsg (const TorqueThrust &msg, EigenTorqueThrust *torque_thrust)
void eigenTrajectoryPointDequeFromMsg (const trajectory_msgs::MultiDOFJointTrajectory &msg, EigenTrajectoryPointDeque *trajectory)
void eigenTrajectoryPointFromMsg (const trajectory_msgs::MultiDOFJointTrajectoryPoint &msg, EigenTrajectoryPoint *trajectory_point)
void eigenTrajectoryPointFromPoseMsg (const geometry_msgs::Pose &msg, EigenTrajectoryPoint *trajectory_point)
void eigenTrajectoryPointFromPoseMsg (const geometry_msgs::PoseStamped &msg, EigenTrajectoryPoint *trajectory_point)
void eigenTrajectoryPointFromTransformMsg (const geometry_msgs::TransformStamped &msg, EigenTrajectoryPoint *trajectory_point)
void eigenTrajectoryPointVectorFromMsg (const trajectory_msgs::MultiDOFJointTrajectory &msg, EigenTrajectoryPointVector *trajectory)
void getEulerAnglesFromQuaternion (const Eigen::Quaternion< double > &q, Eigen::Vector3d *euler_angles)
void getSquaredRotorSpeedsFromAllocationAndState (const Eigen::MatrixXd &allocation_inv, const Eigen::Vector3d &inertia, double mass, const Eigen::Vector3d &angular_velocity_B, const Eigen::Vector3d &angular_acceleration_B, const Eigen::Vector3d &acceleration_B, Eigen::VectorXd *rotor_rates_squared)
double MagnitudeOfGravity (const double height, const double latitude_radians)
void msgActuatorsFromEigen (const EigenActuators &actuators, Actuators *msg)
void msgAttitudeThrustFromEigen (const EigenAttitudeThrust &attitude_thrust, AttitudeThrust *msg)
void msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPoint &trajectory_point, const std::string &link_name, trajectory_msgs::MultiDOFJointTrajectory *msg)
void msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPoint &trajectory_point, trajectory_msgs::MultiDOFJointTrajectory *msg)
void msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPointVector &trajectory, const std::string &link_name, trajectory_msgs::MultiDOFJointTrajectory *msg)
void msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPointVector &trajectory, trajectory_msgs::MultiDOFJointTrajectory *msg)
void msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPointDeque &trajectory, const std::string &link_name, trajectory_msgs::MultiDOFJointTrajectory *msg)
void msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPointDeque &trajectory, trajectory_msgs::MultiDOFJointTrajectory *msg)
void msgMultiDofJointTrajectoryFromPositionYaw (const Eigen::Vector3d &position, double yaw, trajectory_msgs::MultiDOFJointTrajectory *msg)
void msgMultiDofJointTrajectoryPointFromEigen (const EigenTrajectoryPoint &trajectory_point, trajectory_msgs::MultiDOFJointTrajectoryPoint *msg)
void msgOdometryFromEigen (const EigenOdometry &odometry, nav_msgs::Odometry *msg)
void msgPoseStampedFromEigenTrajectoryPoint (const EigenTrajectoryPoint &trajectory_point, geometry_msgs::PoseStamped *msg)
void msgRateThrustFromEigen (EigenRateThrust &rate_thrust, RateThrust *msg)
void msgRollPitchYawrateThrustFromEigen (const EigenRollPitchYawrateThrust &roll_pitch_yawrate_thrust, RollPitchYawrateThrust *msg)
void msgTorqueThrustFromEigen (EigenTorqueThrust &torque_thrust, TorqueThrust *msg)
double nanosecondsToSeconds (int64_t nanoseconds)
EigenTrajectoryPoint operator* (const Eigen::Affine3d &lhs, const EigenTrajectoryPoint &rhs)
void pointEigenToMsg (const Eigen::Vector3d &eigen, geometry_msgs::Point *msg)
void quaternionEigenToMsg (const Eigen::Quaterniond &eigen, geometry_msgs::Quaternion *msg)
Eigen::Quaterniond quaternionFromMsg (const geometry_msgs::Quaternion &msg)
Eigen::Quaterniond quaternionFromYaw (double yaw)
int64_t secondsToNanoseconds (double seconds)
void setAngularVelocityMsgFromYawRate (double yaw_rate, geometry_msgs::Vector3 *msg)
void setQuaternionMsgFromYaw (double yaw, geometry_msgs::Quaternion *msg)
Eigen::Vector3d vector3FromMsg (const geometry_msgs::Vector3 &msg)
Eigen::Vector3d vector3FromPointMsg (const geometry_msgs::Point &msg)
void vectorEigenToMsg (const Eigen::Vector3d &eigen, geometry_msgs::Vector3 *msg)
double yawFromQuaternion (const Eigen::Quaterniond &q)
 Extracts the yaw part from a quaternion, using RPY / euler (z-y'-z'') angles. RPY rotates about the fixed axes in the order x-y-z, which is the same as euler angles in the order z-y'-x''.

Variables

const double kGravity = MagnitudeOfGravity(kZurichHeight, kZurichLatitude)
const double kNumNanosecondsPerSecond = 1.e9
const double kZurichHeight = 405.94
const double kZurichLatitude = 0.8267

Function Documentation

void mav_msgs::eigenActuatorsFromMsg ( const Actuators &  msg,
EigenActuators *  actuators 
) [inline]

Definition at line 54 of file conversions.h.

void mav_msgs::eigenAttitudeThrustFromMsg ( const AttitudeThrust &  msg,
EigenAttitudeThrust *  attitude_thrust 
) [inline]

Definition at line 46 of file conversions.h.

void mav_msgs::EigenMavStateFromEigenTrajectoryPoint ( const Eigen::Vector3d &  acceleration,
const Eigen::Vector3d &  jerk,
const Eigen::Vector3d &  snap,
double  yaw,
double  yaw_rate,
double  yaw_acceleration,
double  magnitude_of_gravity,
Eigen::Quaterniond *  orientation,
Eigen::Vector3d *  acceleration_body,
Eigen::Vector3d *  angular_velocity_body,
Eigen::Vector3d *  angular_acceleration_body 
) [inline]

Computes the MAV state (position, velocity, attitude, angular velocity, angular acceleration) from the flat state. Additionally, computes the acceleration expressed in body coordinates, i.e. the acceleration measured by the IMU. No air-drag is assumed here.

Parameters:
[in]accelerationAcceleration of the MAV, expressed in world coordinates.
[in]jerkJerk of the MAV, expressed in world coordinates.
[in]snapSnap of the MAV, expressed in world coordinates.
[in]yawYaw angle of the MAV, expressed in world coordinates.
[in]yaw_rateYaw rate, expressed in world coordinates.
[in]yaw_accelerationYaw acceleration, expressed in world coordinates.
[in]magnitude_of_gravityMagnitude of the gravity vector.
[out]orientationQuaternion representing the attitude of the MAV.
[out]acceleration_bodyAcceleration expressed in body coordinates, i.e. the acceleration usually by the IMU.
[out]angular_velocity_bodyAngular velocity of the MAV, expressed in body coordinates.
[out]angular_acceleration_bodyAngular acceleration of the MAV, expressed in body coordinates.

Definition at line 237 of file conversions.h.

void mav_msgs::EigenMavStateFromEigenTrajectoryPoint ( const Eigen::Vector3d &  acceleration,
const Eigen::Vector3d &  jerk,
const Eigen::Vector3d &  snap,
double  yaw,
double  yaw_rate,
double  yaw_acceleration,
Eigen::Quaterniond *  orientation,
Eigen::Vector3d *  acceleration_body,
Eigen::Vector3d *  angular_velocity_body,
Eigen::Vector3d *  angular_acceleration_body 
) [inline]

Convenience function with default value for the magnitude of the gravity vector.

Definition at line 199 of file conversions.h.

void mav_msgs::EigenMavStateFromEigenTrajectoryPoint ( const EigenTrajectoryPoint &  flat_state,
double  magnitude_of_gravity,
EigenMavState *  mav_state 
) [inline]

Convenience function with EigenTrajectoryPoint as input and EigenMavState as output.

Definition at line 213 of file conversions.h.

void mav_msgs::EigenMavStateFromEigenTrajectoryPoint ( const EigenTrajectoryPoint &  flat_state,
EigenMavState *  mav_state 
) [inline]

Convenience function with EigenTrajectoryPoint as input and EigenMavState as output with default value for the magnitude of the gravity vector.

Definition at line 232 of file conversions.h.

void mav_msgs::eigenOdometryFromMsg ( const nav_msgs::Odometry &  msg,
EigenOdometry *  odometry 
) [inline]

Definition at line 105 of file conversions.h.

void mav_msgs::eigenRateThrustFromMsg ( const RateThrust &  msg,
EigenRateThrust *  rate_thrust 
) [inline]

Definition at line 78 of file conversions.h.

void mav_msgs::eigenRollPitchYawrateThrustFromMsg ( const RollPitchYawrateThrust &  msg,
EigenRollPitchYawrateThrust *  roll_pitch_yawrate_thrust 
) [inline]

Definition at line 94 of file conversions.h.

void mav_msgs::eigenTorqueThrustFromMsg ( const TorqueThrust &  msg,
EigenTorqueThrust *  torque_thrust 
) [inline]

Definition at line 86 of file conversions.h.

void mav_msgs::eigenTrajectoryPointDequeFromMsg ( const trajectory_msgs::MultiDOFJointTrajectory &  msg,
EigenTrajectoryPointDeque *  trajectory 
) [inline]

Definition at line 364 of file conversions.h.

void mav_msgs::eigenTrajectoryPointFromMsg ( const trajectory_msgs::MultiDOFJointTrajectoryPoint &  msg,
EigenTrajectoryPoint *  trajectory_point 
) [inline]

Definition at line 310 of file conversions.h.

void mav_msgs::eigenTrajectoryPointFromPoseMsg ( const geometry_msgs::Pose &  msg,
EigenTrajectoryPoint *  trajectory_point 
) [inline]

Definition at line 142 of file conversions.h.

void mav_msgs::eigenTrajectoryPointFromPoseMsg ( const geometry_msgs::PoseStamped &  msg,
EigenTrajectoryPoint *  trajectory_point 
) [inline]

Definition at line 156 of file conversions.h.

void mav_msgs::eigenTrajectoryPointFromTransformMsg ( const geometry_msgs::TransformStamped &  msg,
EigenTrajectoryPoint *  trajectory_point 
) [inline]

Definition at line 121 of file conversions.h.

void mav_msgs::eigenTrajectoryPointVectorFromMsg ( const trajectory_msgs::MultiDOFJointTrajectory &  msg,
EigenTrajectoryPointVector *  trajectory 
) [inline]

Definition at line 352 of file conversions.h.

void mav_msgs::getEulerAnglesFromQuaternion ( const Eigen::Quaternion< double > &  q,
Eigen::Vector3d *  euler_angles 
) [inline]

Definition at line 132 of file common.h.

void mav_msgs::getSquaredRotorSpeedsFromAllocationAndState ( const Eigen::MatrixXd &  allocation_inv,
const Eigen::Vector3d &  inertia,
double  mass,
const Eigen::Vector3d &  angular_velocity_B,
const Eigen::Vector3d &  angular_acceleration_B,
const Eigen::Vector3d &  acceleration_B,
Eigen::VectorXd *  rotor_rates_squared 
) [inline]

Definition at line 168 of file common.h.

double mav_msgs::MagnitudeOfGravity ( const double  height,
const double  latitude_radians 
) [inline]

Magnitude of Earth's gravitational field at specific height [m] and latitude [rad] (from wikipedia).

Definition at line 37 of file common.h.

void mav_msgs::msgActuatorsFromEigen ( const EigenActuators &  actuators,
Actuators *  msg 
) [inline]

Definition at line 378 of file conversions.h.

void mav_msgs::msgAttitudeThrustFromEigen ( const EigenAttitudeThrust &  attitude_thrust,
AttitudeThrust *  msg 
) [inline]

Definition at line 398 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen ( const EigenTrajectoryPoint &  trajectory_point,
const std::string &  link_name,
trajectory_msgs::MultiDOFJointTrajectory *  msg 
) [inline]

Definition at line 476 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen ( const EigenTrajectoryPoint &  trajectory_point,
trajectory_msgs::MultiDOFJointTrajectory *  msg 
) [inline]

Definition at line 489 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen ( const EigenTrajectoryPointVector &  trajectory,
const std::string &  link_name,
trajectory_msgs::MultiDOFJointTrajectory *  msg 
) [inline]

Definition at line 508 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen ( const EigenTrajectoryPointVector &  trajectory,
trajectory_msgs::MultiDOFJointTrajectory *  msg 
) [inline]

Definition at line 529 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen ( const EigenTrajectoryPointDeque &  trajectory,
const std::string &  link_name,
trajectory_msgs::MultiDOFJointTrajectory *  msg 
) [inline]

Definition at line 535 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen ( const EigenTrajectoryPointDeque &  trajectory,
trajectory_msgs::MultiDOFJointTrajectory *  msg 
) [inline]

Definition at line 556 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromPositionYaw ( const Eigen::Vector3d &  position,
double  yaw,
trajectory_msgs::MultiDOFJointTrajectory *  msg 
) [inline]

Definition at line 496 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryPointFromEigen ( const EigenTrajectoryPoint &  trajectory_point,
trajectory_msgs::MultiDOFJointTrajectoryPoint *  msg 
) [inline]

Definition at line 455 of file conversions.h.

void mav_msgs::msgOdometryFromEigen ( const EigenOdometry &  odometry,
nav_msgs::Odometry *  msg 
) [inline]

Definition at line 429 of file conversions.h.

void mav_msgs::msgPoseStampedFromEigenTrajectoryPoint ( const EigenTrajectoryPoint &  trajectory_point,
geometry_msgs::PoseStamped *  msg 
) [inline]

Definition at line 444 of file conversions.h.

void mav_msgs::msgRateThrustFromEigen ( EigenRateThrust &  rate_thrust,
RateThrust *  msg 
) [inline]

Definition at line 405 of file conversions.h.

void mav_msgs::msgRollPitchYawrateThrustFromEigen ( const EigenRollPitchYawrateThrust &  roll_pitch_yawrate_thrust,
RollPitchYawrateThrust *  msg 
) [inline]

Definition at line 419 of file conversions.h.

void mav_msgs::msgTorqueThrustFromEigen ( EigenTorqueThrust &  torque_thrust,
TorqueThrust *  msg 
) [inline]

Definition at line 412 of file conversions.h.

double mav_msgs::nanosecondsToSeconds ( int64_t  nanoseconds) [inline]

Definition at line 183 of file common.h.

EigenTrajectoryPoint mav_msgs::operator* ( const Eigen::Affine3d &  lhs,
const EigenTrajectoryPoint &  rhs 
) [inline]

Definition at line 259 of file eigen_mav_msgs.h.

void mav_msgs::pointEigenToMsg ( const Eigen::Vector3d &  eigen,
geometry_msgs::Point *  msg 
) [inline]

Definition at line 82 of file common.h.

void mav_msgs::quaternionEigenToMsg ( const Eigen::Quaterniond &  eigen,
geometry_msgs::Quaternion *  msg 
) [inline]

Definition at line 90 of file common.h.

Eigen::Quaterniond mav_msgs::quaternionFromMsg ( const geometry_msgs::Quaternion &  msg) [inline]

Definition at line 61 of file common.h.

Eigen::Quaterniond mav_msgs::quaternionFromYaw ( double  yaw) [inline]

Definition at line 110 of file common.h.

int64_t mav_msgs::secondsToNanoseconds ( double  seconds) [inline]

Definition at line 188 of file common.h.

void mav_msgs::setAngularVelocityMsgFromYawRate ( double  yaw_rate,
geometry_msgs::Vector3 *  msg 
) [inline]

Definition at line 124 of file common.h.

void mav_msgs::setQuaternionMsgFromYaw ( double  yaw,
geometry_msgs::Quaternion *  msg 
) [inline]

Definition at line 114 of file common.h.

Eigen::Vector3d mav_msgs::vector3FromMsg ( const geometry_msgs::Vector3 &  msg) [inline]

Definition at line 53 of file common.h.

Eigen::Vector3d mav_msgs::vector3FromPointMsg ( const geometry_msgs::Point &  msg) [inline]

Definition at line 57 of file common.h.

void mav_msgs::vectorEigenToMsg ( const Eigen::Vector3d &  eigen,
geometry_msgs::Vector3 *  msg 
) [inline]

Definition at line 74 of file common.h.

double mav_msgs::yawFromQuaternion ( const Eigen::Quaterniond &  q) [inline]

Extracts the yaw part from a quaternion, using RPY / euler (z-y'-z'') angles. RPY rotates about the fixed axes in the order x-y-z, which is the same as euler angles in the order z-y'-x''.

Definition at line 105 of file common.h.

Variable Documentation

const double mav_msgs::kGravity = MagnitudeOfGravity(kZurichHeight, kZurichLatitude)

Definition at line 30 of file default_values.h.

const double mav_msgs::kNumNanosecondsPerSecond = 1.e9

Definition at line 33 of file common.h.

const double mav_msgs::kZurichHeight = 405.94

Definition at line 29 of file default_values.h.

const double mav_msgs::kZurichLatitude = 0.8267

Definition at line 28 of file default_values.h.


mav_msgs
Author(s): Simon Lynen, Markus Achtelik, Pascal Gohl, Sammy Omari, Michael Burri, Fadri Furrer, Helen Oleynikova, Mina Kamel, Karen Bodie, Rik Bähnemann
autogenerated on Fri Jun 14 2019 19:31:57