Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
rotors_control::LeePositionController Class Reference

#include <lee_position_controller.h>

List of all members.

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_

Detailed Description

Definition at line 57 of file lee_position_controller.h.


Constructor & Destructor Documentation

Definition at line 25 of file lee_position_controller.cpp.

Definition at line 31 of file lee_position_controller.cpp.


Member Function Documentation

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.

Definition at line 84 of file lee_position_controller.cpp.

Definition at line 88 of file lee_position_controller.cpp.


Member Data Documentation

Definition at line 78 of file lee_position_controller.h.

Definition at line 80 of file lee_position_controller.h.

Definition at line 74 of file lee_position_controller.h.

Definition at line 68 of file lee_position_controller.h.

Definition at line 73 of file lee_position_controller.h.

Definition at line 77 of file lee_position_controller.h.

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.


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


rotors_control
Author(s): Fadri Furrer, Michael Burri, Mina Kamel, Janosch Nikolic, Markus Achtelik
autogenerated on Thu Apr 18 2019 02:43:38