#include <multi_copter.hpp>
Public Member Functions | |
| const Eigen::Quaterniond | attitude () |
| Eigen::VectorXd | getMotorVelocities () |
| Eigen::VectorXd | getRefMotorVelocities (double dt) |
| virtual void | initializeParams ()=0 |
| const MotorController | motorController () |
| MultiCopter (int amount_rotors) | |
| MultiCopter (int amount_rotors, MotorController &motor_controller) | |
| const Eigen::Vector3d | position () |
| virtual void | publish ()=0 |
| void | setMotorController (MotorController &motor_controller) |
| virtual Eigen::Vector4d | simulateMAV (double dt, Eigen::VectorXd ref_rotor_rot_vels)=0 |
| const Eigen::Vector3d | velocity () |
| ~MultiCopter () | |
Protected Attributes | |
| Eigen::Vector3d | angular_rate_ |
| Eigen::Quaterniond | attitude_ |
| MotorController | motor_controller_ |
| Eigen::Vector3d | position_ |
| Eigen::VectorXd | rotor_rot_vels_ |
| Eigen::Vector3d | velocity_ |
Definition at line 30 of file multi_copter.hpp.
| MultiCopter::MultiCopter | ( | int | amount_rotors | ) | [inline] |
Definition at line 33 of file multi_copter.hpp.
| MultiCopter::MultiCopter | ( | int | amount_rotors, |
| MotorController & | motor_controller | ||
| ) | [inline] |
Definition at line 39 of file multi_copter.hpp.
| const Eigen::Quaterniond MultiCopter::attitude | ( | ) | [inline] |
Definition at line 70 of file multi_copter.hpp.
| Eigen::VectorXd MultiCopter::getMotorVelocities | ( | ) | [inline] |
Definition at line 56 of file multi_copter.hpp.
| Eigen::VectorXd MultiCopter::getRefMotorVelocities | ( | double | dt | ) | [inline] |
Definition at line 52 of file multi_copter.hpp.
| virtual void MultiCopter::initializeParams | ( | ) | [pure virtual] |
| const MotorController MultiCopter::motorController | ( | ) | [inline] |
Definition at line 65 of file multi_copter.hpp.
| const Eigen::Vector3d MultiCopter::position | ( | ) | [inline] |
Definition at line 68 of file multi_copter.hpp.
| virtual void MultiCopter::publish | ( | ) | [pure virtual] |
| void MultiCopter::setMotorController | ( | MotorController & | motor_controller | ) | [inline] |
Definition at line 47 of file multi_copter.hpp.
| virtual Eigen::Vector4d MultiCopter::simulateMAV | ( | double | dt, |
| Eigen::VectorXd | ref_rotor_rot_vels | ||
| ) | [pure virtual] |
| const Eigen::Vector3d MultiCopter::velocity | ( | ) | [inline] |
Definition at line 69 of file multi_copter.hpp.
Eigen::Vector3d MultiCopter::angular_rate_ [protected] |
Definition at line 78 of file multi_copter.hpp.
Eigen::Quaterniond MultiCopter::attitude_ [protected] |
Definition at line 77 of file multi_copter.hpp.
MotorController MultiCopter::motor_controller_ [protected] |
Definition at line 74 of file multi_copter.hpp.
Eigen::Vector3d MultiCopter::position_ [protected] |
Definition at line 75 of file multi_copter.hpp.
Eigen::VectorXd MultiCopter::rotor_rot_vels_ [protected] |
Definition at line 79 of file multi_copter.hpp.
Eigen::Vector3d MultiCopter::velocity_ [protected] |
Definition at line 76 of file multi_copter.hpp.