RateController Class Reference

#include <rate_controller.h>

List of all members.

Public Member Functions
virtual void	CalculateRotorVelocities (Eigen::VectorXd *rotor_velocities) const
virtual std::shared_ptr < ControllerBase >	Clone ()
virtual void	InitializeParams ()
	RateController ()
virtual	~RateController ()
Private Member Functions
void	ComputeDesiredAngularAcc (Eigen::Vector3d *angular_acceleration) const
Private Attributes
Eigen::Matrix4Xd	allocation_matrix_
Eigen::MatrixX4d	angular_acc_to_rotor_velocities_
Eigen::Vector3d	gain_angular_rate_
const double	gravity_
Eigen::Matrix3d	inertia_matrix_
double	mass_

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Detailed Description

Definition at line 27 of file rate_controller.h.

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Constructor & Destructor Documentation

RateController::RateController

(

)

Definition at line 23 of file rate_controller.cpp.

RateController::~RateController

(

)

[virtual]

Definition at line 27 of file rate_controller.cpp.

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Member Function Documentation

void RateController::CalculateRotorVelocities

(

Eigen::VectorXd *

rotor_velocities

)

const [virtual]

Definition at line 76 of file rate_controller.cpp.

std::shared_ptr< ControllerBase > RateController::Clone

(

)

[virtual]

Definition at line 29 of file rate_controller.cpp.

void RateController::ComputeDesiredAngularAcc

(

Eigen::Vector3d *

angular_acceleration

)

const [private]

Definition at line 96 of file rate_controller.cpp.

void RateController::InitializeParams

(

)

[virtual]

Definition at line 34 of file rate_controller.cpp.

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Member Data Documentation

Eigen::Matrix4Xd RateController::allocation_matrix_ [private]

Definition at line 37 of file rate_controller.h.

Eigen::MatrixX4d RateController::angular_acc_to_rotor_velocities_ [private]

Definition at line 38 of file rate_controller.h.

Eigen::Vector3d RateController::gain_angular_rate_ [private]

Definition at line 39 of file rate_controller.h.

const double RateController::gravity_ [private]

Definition at line 43 of file rate_controller.h.

Eigen::Matrix3d RateController::inertia_matrix_ [private]

Definition at line 40 of file rate_controller.h.

double RateController::mass_ [private]

Definition at line 42 of file rate_controller.h.

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

• rate_controller.h
• rate_controller.cpp