motor_model.hpp
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00001 /*
00002  * Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
00003  * Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
00004  * Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
00005  * Copyright 2015 Janosch Nikolic, ASL, ETH Zurich, Switzerland
00006  * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
00007  *
00008  * Licensed under the Apache License, Version 2.0 (the "License");
00009  * you may not use this file except in compliance with the License.
00010  * You may obtain a copy of the License at
00011  *
00012  *     http://www.apache.org/licenses/LICENSE-2.0
00013 
00014  * Unless required by applicable law or agreed to in writing, software
00015  * distributed under the License is distributed on an "AS IS" BASIS,
00016  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00017  * See the License for the specific language governing permissions and
00018  * limitations under the License.
00019  */
00020 
00021 
00022 #ifndef ROTORS_GAZEBO_PLUGINS_MOTOR_MODEL_H
00023 #define ROTORS_GAZEBO_PLUGINS_MOTOR_MODEL_H
00024 
00025 #include <Eigen/Eigen>
00026 
00027 class MotorModel
00028 {
00029   public:
00030     MotorModel()
00031         : motor_rot_vel_(0.0),
00032           ref_motor_rot_vel_(0.0),
00033           prev_sim_time_(0.0),
00034           sampling_time_(0.01) {}
00035     virtual ~MotorModel() {}
00036     void GetMotorVelocity(double &result) const {
00037       result = motor_rot_vel_;
00038     }
00039     void SetReferenceMotorVelocity(double ref_motor_rot_vel) {
00040       ref_motor_rot_vel_ = ref_motor_rot_vel;
00041     }
00042 
00043     virtual void InitializeParams() = 0;
00044     virtual void Publish() = 0;
00045 
00046   protected:
00047     double motor_rot_vel_;
00048     double ref_motor_rot_vel_;
00049     double prev_ref_motor_rot_vel_;
00050     double prev_sim_time_;
00051     double sampling_time_;
00052 
00053 
00054     virtual void UpdateForcesAndMoments() = 0;
00055 };
00056 
00057 #endif // ROTORS_GAZEBO_PLUGINS_MOTOR_MODEL_H


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