#include <lee_position_controller.h>
Public Member Functions | |
void | CalculateRotorVelocities (Eigen::VectorXd *rotor_velocities) const |
void | InitializeParameters () |
LeePositionController () | |
void | SetOdometry (const EigenOdometry &odometry) |
void | SetTrajectoryPoint (const mav_msgs::EigenTrajectoryPoint &command_trajectory) |
~LeePositionController () | |
Public Attributes | |
LeePositionControllerParameters | controller_parameters_ |
VehicleParameters | vehicle_parameters_ |
Private Member Functions | |
void | ComputeDesiredAcceleration (Eigen::Vector3d *acceleration) const |
void | ComputeDesiredAngularAcc (const Eigen::Vector3d &acceleration, Eigen::Vector3d *angular_acceleration) const |
Private Attributes | |
Eigen::MatrixX4d | angular_acc_to_rotor_velocities_ |
mav_msgs::EigenTrajectoryPoint | command_trajectory_ |
bool | controller_active_ |
bool | initialized_params_ |
Eigen::Vector3d | normalized_angular_rate_gain_ |
Eigen::Vector3d | normalized_attitude_gain_ |
EigenOdometry | odometry_ |
Definition at line 57 of file lee_position_controller.h.
Definition at line 25 of file lee_position_controller.cpp.
Definition at line 31 of file lee_position_controller.cpp.
void rotors_control::LeePositionController::CalculateRotorVelocities | ( | Eigen::VectorXd * | rotor_velocities | ) | const |
Definition at line 55 of file lee_position_controller.cpp.
void rotors_control::LeePositionController::ComputeDesiredAcceleration | ( | Eigen::Vector3d * | acceleration | ) | const [private] |
Definition at line 94 of file lee_position_controller.cpp.
void rotors_control::LeePositionController::ComputeDesiredAngularAcc | ( | const Eigen::Vector3d & | acceleration, |
Eigen::Vector3d * | angular_acceleration | ||
) | const [private] |
Definition at line 115 of file lee_position_controller.cpp.
Definition at line 33 of file lee_position_controller.cpp.
void rotors_control::LeePositionController::SetOdometry | ( | const EigenOdometry & | odometry | ) |
Definition at line 84 of file lee_position_controller.cpp.
void rotors_control::LeePositionController::SetTrajectoryPoint | ( | const mav_msgs::EigenTrajectoryPoint & | command_trajectory | ) |
Definition at line 88 of file lee_position_controller.cpp.
Eigen::MatrixX4d rotors_control::LeePositionController::angular_acc_to_rotor_velocities_ [private] |
Definition at line 78 of file lee_position_controller.h.
Definition at line 80 of file lee_position_controller.h.
bool rotors_control::LeePositionController::controller_active_ [private] |
Definition at line 74 of file lee_position_controller.h.
Definition at line 68 of file lee_position_controller.h.
bool rotors_control::LeePositionController::initialized_params_ [private] |
Definition at line 73 of file lee_position_controller.h.
Eigen::Vector3d rotors_control::LeePositionController::normalized_angular_rate_gain_ [private] |
Definition at line 77 of file lee_position_controller.h.
Eigen::Vector3d rotors_control::LeePositionController::normalized_attitude_gain_ [private] |
Definition at line 76 of file lee_position_controller.h.
Definition at line 81 of file lee_position_controller.h.
Definition at line 69 of file lee_position_controller.h.