rotors_control: parameters.h Source File

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00001 #ifndef INCLUDE_ROTORS_CONTROL_PARAMETERS_H_
00002 #define INCLUDE_ROTORS_CONTROL_PARAMETERS_H_
00003 
00004 namespace rotors_control {
00005 // Default values for the Asctec Firefly rotor configuration.
00006 static constexpr double kDefaultRotor0Angle = 0.52359877559;
00007 static constexpr double kDefaultRotor1Angle = 1.57079632679;
00008 static constexpr double kDefaultRotor2Angle = 2.61799387799;
00009 static constexpr double kDefaultRotor3Angle = -2.61799387799;
00010 static constexpr double kDefaultRotor4Angle = -1.57079632679;
00011 static constexpr double kDefaultRotor5Angle = -0.52359877559;
00012 
00013 // Default vehicle parameters for Asctec Firefly.
00014 static constexpr double kDefaultMass = 1.56779;
00015 static constexpr double kDefaultArmLength = 0.215;
00016 static constexpr double kDefaultInertiaXx = 0.0347563;
00017 static constexpr double kDefaultInertiaYy = 0.0458929;
00018 static constexpr double kDefaultInertiaZz = 0.0977;
00019 static constexpr double kDefaultRotorForceConstant = 8.54858e-6;
00020 static constexpr double kDefaultRotorMomentConstant = 1.6e-2;
00021 
00022 // Default physics parameters.
00023 static constexpr double kDefaultGravity = 9.81;
00024 
00025 struct Rotor {
00026   Rotor()
00027       : angle(0.0),
00028         arm_length(kDefaultArmLength),
00029         rotor_force_constant(kDefaultRotorForceConstant),
00030         rotor_moment_constant(kDefaultRotorMomentConstant),
00031         direction(1) {}
00032   Rotor(double _angle, double _arm_length,
00033         double _rotor_force_constant, double _rotor_moment_constant,
00034         int _direction)
00035       : angle(_angle),
00036         arm_length(_arm_length),
00037         rotor_force_constant(_rotor_force_constant),
00038         rotor_moment_constant(_rotor_moment_constant),
00039         direction(_direction) {}
00040   double angle;
00041   double arm_length;
00042   double rotor_force_constant;
00043   double rotor_moment_constant;
00044   int direction;
00045 };
00046 
00047 struct RotorConfiguration {
00048   RotorConfiguration() {
00049     // Rotor configuration of Asctec Firefly.
00050     rotors.push_back(
00051       Rotor(kDefaultRotor0Angle, kDefaultArmLength, kDefaultRotorForceConstant,
00052             kDefaultRotorMomentConstant, 1));
00053     rotors.push_back(
00054       Rotor(kDefaultRotor1Angle, kDefaultArmLength, kDefaultRotorForceConstant,
00055             kDefaultRotorMomentConstant, -1));
00056     rotors.push_back(
00057       Rotor(kDefaultRotor2Angle, kDefaultArmLength, kDefaultRotorForceConstant,
00058             kDefaultRotorMomentConstant, 1));
00059     rotors.push_back(
00060       Rotor(kDefaultRotor3Angle, kDefaultArmLength, kDefaultRotorForceConstant,
00061             kDefaultRotorMomentConstant, -1));
00062     rotors.push_back(
00063       Rotor(kDefaultRotor4Angle, kDefaultArmLength, kDefaultRotorForceConstant,
00064             kDefaultRotorMomentConstant, 1));
00065     rotors.push_back(
00066       Rotor(kDefaultRotor5Angle, kDefaultArmLength, kDefaultRotorForceConstant,
00067             kDefaultRotorMomentConstant, -1));
00068   }
00069   std::vector<Rotor> rotors;
00070 };
00071 
00072 class VehicleParameters {
00073  public:
00074   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00075   VehicleParameters()
00076       : mass_(kDefaultMass),
00077         gravity_(kDefaultGravity),
00078         inertia_(Eigen::Vector3d(kDefaultInertiaXx, kDefaultInertiaYy,
00079                                  kDefaultInertiaZz).asDiagonal()) {}
00080   double mass_;
00081   const double gravity_;
00082   Eigen::Matrix3d inertia_;
00083   RotorConfiguration rotor_configuration_;
00084 };
00085 
00086 }
00087 
00088 #endif /* INCLUDE_ROTORS_CONTROL_PARAMETERS_H_ */