hector_quadrotor_model::QuadrotorPropulsion Class Reference

#include <quadrotor_propulsion.h>

Classes
struct	PropulsionModel

Public Member Functions
void	addCommandToQueue (const hector_uav_msgs::MotorCommandConstPtr &command)
void	addPWMToQueue (const hector_uav_msgs::MotorPWMConstPtr &pwm)
bool	configure (const ros::NodeHandle &param=ros::NodeHandle("~"))
void	engage ()
void	f (const double xin[4], const double uin[10], double dt, double y[14], double xpred[4]) const
const hector_uav_msgs::MotorStatus &	getMotorStatus () const
const hector_uav_msgs::Supply &	getSupply () const
const geometry_msgs::Wrench &	getWrench () const
bool	processQueue (const ros::Time &timestamp, const ros::Duration &tolerance=ros::Duration(), const ros::Duration &delay=ros::Duration(), const ros::WallDuration &wait=ros::WallDuration(), ros::CallbackQueue *callback_queue=0)
	QuadrotorPropulsion ()
void	reset ()
void	setInitialSupplyVoltage (double voltage)
void	setTwist (const geometry_msgs::Twist &twist)
void	setVoltage (const hector_uav_msgs::MotorPWM &command)
void	shutdown ()
void	update (double dt)
	~QuadrotorPropulsion ()

Private Attributes
boost::condition	command_condition_
std::queue< hector_uav_msgs::MotorPWMConstPtr >	command_queue_
boost::mutex	command_queue_mutex_
double	initial_voltage_
ros::Time	last_command_time_
hector_uav_msgs::MotorStatus	motor_status_
boost::mutex	mutex_
PropulsionModel *	propulsion_model_
hector_uav_msgs::Supply	supply_
geometry_msgs::Wrench	wrench_

Detailed Description

Definition at line 51 of file quadrotor_propulsion.h.

Constructor & Destructor Documentation

hector_quadrotor_model::QuadrotorPropulsion::QuadrotorPropulsion

(

)

Definition at line 83 of file quadrotor_propulsion.cpp.

hector_quadrotor_model::QuadrotorPropulsion::~QuadrotorPropulsion

(

)

Definition at line 90 of file quadrotor_propulsion.cpp.

Member Function Documentation

void hector_quadrotor_model::QuadrotorPropulsion::addCommandToQueue

(

const hector_uav_msgs::MotorCommandConstPtr &

command

)

Definition at line 341 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::addPWMToQueue

(

const hector_uav_msgs::MotorPWMConstPtr &

pwm

)

Definition at line 358 of file quadrotor_propulsion.cpp.

bool hector_quadrotor_model::QuadrotorPropulsion::configure

(

const ros::NodeHandle &

param = ros::NodeHandle("~")

)

Definition at line 246 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::engage

(

)

Definition at line 478 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::f ( const double  xin[4], const double  uin[10], double  dt, double  y[14], double  xpred[4]  ) const

inline

Definition at line 241 of file quadrotor_propulsion.cpp.

const hector_uav_msgs::MotorStatus& hector_quadrotor_model::QuadrotorPropulsion::getMotorStatus ( ) const

inline

Definition at line 69 of file quadrotor_propulsion.h.

const hector_uav_msgs::Supply& hector_quadrotor_model::QuadrotorPropulsion::getSupply ( ) const

inline

Definition at line 68 of file quadrotor_propulsion.h.

const geometry_msgs::Wrench& hector_quadrotor_model::QuadrotorPropulsion::getWrench ( ) const

inline

Definition at line 67 of file quadrotor_propulsion.h.

bool hector_quadrotor_model::QuadrotorPropulsion::processQueue	(	const ros::Time &	timestamp,
		const ros::Duration &	tolerance = ros::Duration(),
		const ros::Duration &	delay = ros::Duration(),
		const ros::WallDuration &	wait = ros::WallDuration(),
		ros::CallbackQueue *	callback_queue = 0
	)

Definition at line 372 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::reset

(

)

Definition at line 283 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::setInitialSupplyVoltage ( double  voltage )

inline

Definition at line 77 of file quadrotor_propulsion.h.

void hector_quadrotor_model::QuadrotorPropulsion::setTwist

(

const geometry_msgs::Twist &

twist

)

Definition at line 326 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::setVoltage

(

const hector_uav_msgs::MotorPWM &

command

)

Definition at line 308 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::shutdown

(

)

Definition at line 483 of file quadrotor_propulsion.cpp.

void hector_quadrotor_model::QuadrotorPropulsion::update

(

double

dt

)

Definition at line 433 of file quadrotor_propulsion.cpp.

Member Data Documentation

boost::condition hector_quadrotor_model::QuadrotorPropulsion::command_condition_

private

Definition at line 89 of file quadrotor_propulsion.h.

std::queue<hector_uav_msgs::MotorPWMConstPtr> hector_quadrotor_model::QuadrotorPropulsion::command_queue_

private

Definition at line 87 of file quadrotor_propulsion.h.

boost::mutex hector_quadrotor_model::QuadrotorPropulsion::command_queue_mutex_

private

Definition at line 88 of file quadrotor_propulsion.h.

double hector_quadrotor_model::QuadrotorPropulsion::initial_voltage_

private

Definition at line 85 of file quadrotor_propulsion.h.

ros::Time hector_quadrotor_model::QuadrotorPropulsion::last_command_time_

private

Definition at line 83 of file quadrotor_propulsion.h.

hector_uav_msgs::MotorStatus hector_quadrotor_model::QuadrotorPropulsion::motor_status_

private

Definition at line 82 of file quadrotor_propulsion.h.

boost::mutex hector_quadrotor_model::QuadrotorPropulsion::mutex_

private

Definition at line 91 of file quadrotor_propulsion.h.

PropulsionModel* hector_quadrotor_model::QuadrotorPropulsion::propulsion_model_

private

Definition at line 93 of file quadrotor_propulsion.h.

hector_uav_msgs::Supply hector_quadrotor_model::QuadrotorPropulsion::supply_

private

Definition at line 81 of file quadrotor_propulsion.h.

geometry_msgs::Wrench hector_quadrotor_model::QuadrotorPropulsion::wrench_

private

Definition at line 80 of file quadrotor_propulsion.h.

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

• quadrotor_propulsion.h
• quadrotor_propulsion.cpp