#include <rosflight_sil.h>

Inheritance diagram for rosflight_sim::ROSflightSIL:

Public Member Functions
	ROSflightSIL ()

	~ROSflightSIL ()

Protected Member Functions
void	Load (gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override

void	OnUpdate (const gazebo::common::UpdateInfo &_info)

void	Reset () override

Private Member Functions
void	publishTruth ()

Eigen::Matrix3d	rotation_to_eigen_from_gazebo (GazeboQuaternion vec)

Eigen::Vector3d	vec3_to_eigen_from_gazebo (GazeboVector vec)

GazeboVector	vec3_to_gazebo_from_eigen (Eigen::Vector3d vec)

void	windCallback (const geometry_msgs::Vector3 &msg)

Private Attributes
Eigen::Matrix< double, 6, 1 >	applied_forces_

SIL_Board	board_

rosflight_firmware::Mavlink	comm_

rosflight_firmware::ROSflight	firmware_

Eigen::Matrix< double, 6, 1 >	forces_

GazeboPose	initial_pose_

gazebo::physics::JointPtr	joint_

gazebo::physics::LinkPtr	link_

std::string	link_name_

MAVForcesAndMoments *	mav_dynamics_

std::string	mav_type_

gazebo::physics::ModelPtr	model_

std::string	namespace_

ros::NodeHandle *	nh_

gazebo::physics::EntityPtr	parent_link_

uint64_t	start_time_us_

ros::Publisher	truth_NED_pub_

ros::Publisher	truth_NWU_pub_

gazebo::event::ConnectionPtr	updateConnection_

ros::Subscriber	wind_sub_

gazebo::physics::WorldPtr	world_

Detailed Description

Definition at line 55 of file rosflight_sil.h.

Constructor & Destructor Documentation

rosflight_sim::ROSflightSIL::ROSflightSIL ( )

Definition at line 45 of file rosflight_sil.cpp.

rosflight_sim::ROSflightSIL::~ROSflightSIL ( )

Definition at line 47 of file rosflight_sil.cpp.

Member Function Documentation

void rosflight_sim::ROSflightSIL::Load	(	gazebo::physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)

overrideprotected

Definition at line 57 of file rosflight_sil.cpp.

void rosflight_sim::ROSflightSIL::OnUpdate ( const gazebo::common::UpdateInfo & _info )

protected

Definition at line 122 of file rosflight_sil.cpp.

void rosflight_sim::ROSflightSIL::publishTruth ( )

private

Definition at line 169 of file rosflight_sil.cpp.

void rosflight_sim::ROSflightSIL::Reset ( )

overrideprotected

Definition at line 154 of file rosflight_sil.cpp.

Eigen::Matrix3d rosflight_sim::ROSflightSIL::rotation_to_eigen_from_gazebo ( GazeboQuaternion vec )

private

Definition at line 221 of file rosflight_sil.cpp.

Eigen::Vector3d rosflight_sim::ROSflightSIL::vec3_to_eigen_from_gazebo ( GazeboVector vec )

private

Definition at line 208 of file rosflight_sil.cpp.

GazeboVector rosflight_sim::ROSflightSIL::vec3_to_gazebo_from_eigen ( Eigen::Vector3d vec )

private

Definition at line 215 of file rosflight_sil.cpp.

void rosflight_sim::ROSflightSIL::windCallback ( const geometry_msgs::Vector3 & msg )

private

Definition at line 162 of file rosflight_sil.cpp.

Member Data Documentation

Eigen::Matrix<double, 6, 1> rosflight_sim::ROSflightSIL::applied_forces_

private

Definition at line 92 of file rosflight_sil.h.

SIL_Board rosflight_sim::ROSflightSIL::board_

private

Definition at line 70 of file rosflight_sil.h.

rosflight_firmware::Mavlink rosflight_sim::ROSflightSIL::comm_

private

Definition at line 71 of file rosflight_sil.h.

rosflight_firmware::ROSflight rosflight_sim::ROSflightSIL::firmware_

private

Definition at line 72 of file rosflight_sil.h.

Eigen::Matrix<double, 6, 1> rosflight_sim::ROSflightSIL::forces_

private

Definition at line 92 of file rosflight_sil.h.

GazeboPose rosflight_sim::ROSflightSIL::initial_pose_

private

Definition at line 100 of file rosflight_sil.h.

gazebo::physics::JointPtr rosflight_sim::ROSflightSIL::joint_

private

Definition at line 81 of file rosflight_sil.h.

gazebo::physics::LinkPtr rosflight_sim::ROSflightSIL::link_

private

Definition at line 80 of file rosflight_sil.h.

std::string rosflight_sim::ROSflightSIL::link_name_

private

Definition at line 76 of file rosflight_sil.h.

MAVForcesAndMoments* rosflight_sim::ROSflightSIL::mav_dynamics_

private

Definition at line 89 of file rosflight_sil.h.

std::string rosflight_sim::ROSflightSIL::mav_type_

private

Definition at line 74 of file rosflight_sil.h.

gazebo::physics::ModelPtr rosflight_sim::ROSflightSIL::model_

private

Definition at line 79 of file rosflight_sil.h.

std::string rosflight_sim::ROSflightSIL::namespace_

private

Definition at line 75 of file rosflight_sil.h.

ros::NodeHandle* rosflight_sim::ROSflightSIL::nh_

private

Definition at line 97 of file rosflight_sil.h.

gazebo::physics::EntityPtr rosflight_sim::ROSflightSIL::parent_link_

private

Definition at line 82 of file rosflight_sil.h.

uint64_t rosflight_sim::ROSflightSIL::start_time_us_

private

Definition at line 95 of file rosflight_sil.h.

ros::Publisher rosflight_sim::ROSflightSIL::truth_NED_pub_

private

Definition at line 86 of file rosflight_sil.h.

ros::Publisher rosflight_sim::ROSflightSIL::truth_NWU_pub_

private

Definition at line 87 of file rosflight_sil.h.

gazebo::event::ConnectionPtr rosflight_sim::ROSflightSIL::updateConnection_

private

Definition at line 83 of file rosflight_sil.h.

ros::Subscriber rosflight_sim::ROSflightSIL::wind_sub_

private

Definition at line 85 of file rosflight_sil.h.

gazebo::physics::WorldPtr rosflight_sim::ROSflightSIL::world_

private

Definition at line 78 of file rosflight_sil.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation