FlightgogglesDynamics Class Reference

#include <flightgogglesDynamicsSim.hpp>

Inheritance diagram for FlightgogglesDynamics:

Public Member Functions
	FlightgogglesDynamics ()=default
void	getIMUMeasurement (Eigen::Vector3d &accOutput, Eigen::Vector3d &gyroOutput) override
Eigen::Vector3d	getVehicleAngularVelocity (void) const override
Eigen::Quaterniond	getVehicleAttitude () const override
Eigen::Vector3d	getVehiclePosition () const override
Eigen::Vector3d	getVehicleVelocity (void) const override
int8_t	init () override
	Use rosparam here to initialize sim. More...
void	process (double dt_secs, const std::vector< double > &motorSpeedCommandIn, bool isCmdPercent) override
void	setInitialPosition (const Eigen::Vector3d &position, const Eigen::Quaterniond &attitude) override
	~FlightgogglesDynamics () final=default
Public Member Functions inherited from UavDynamicsSimBase
virtual int8_t	calibrate (SimMode_t calibrationType)
virtual bool	getMotorsRpm (std::vector< double > &motorsRpm)
virtual void	land ()
	UavDynamicsSimBase ()=default
virtual	~UavDynamicsSimBase ()=default

Private Member Functions
void	initStaticMotorTransform ()
std::vector< double >	mapCmdActuator (std::vector< double > cmd) const
	Convert actuator indexes from PX4 notation to internal Flightgoggles notation. More...

Private Attributes
std::unique_ptr< MulticopterDynamicsSim >	multicopterSim_

Additional Inherited Members
Public Types inherited from UavDynamicsSimBase
enum	SimMode_t {   SimMode_t::NORMAL = 0, SimMode_t::MAG_1_NORMAL = 1, SimMode_t::MAG_2_OVERTURNED = 2, SimMode_t::MAG_3_HEAD_DOWN = 3,   SimMode_t::MAG_4_HEAD_UP = 4, SimMode_t::MAG_5_TURNED_LEFT = 5, SimMode_t::MAG_6_TURNED_RIGHT = 6, SimMode_t::MAG_7_ARDUPILOT = 7,   SimMode_t::MAG_8_ARDUPILOT = 8, SimMode_t::MAG_9_ARDUPILOT = 9, SimMode_t::ACC_1_NORMAL = 11, SimMode_t::ACC_2_OVERTURNED = 12,   SimMode_t::ACC_3_HEAD_DOWN = 13, SimMode_t::ACC_4_HEAD_UP = 14, SimMode_t::ACC_5_TURNED_LEFT = 15, SimMode_t::ACC_6_TURNED_RIGHT = 16,   SimMode_t::AIRSPEED = 21 }

Detailed Description

Definition at line 26 of file flightgogglesDynamicsSim.hpp.

Constructor & Destructor Documentation

FlightgogglesDynamics()

FlightgogglesDynamics::FlightgogglesDynamics ( )

default

~FlightgogglesDynamics()

FlightgogglesDynamics::~FlightgogglesDynamics ( )

finaldefault

Member Function Documentation

getIMUMeasurement()

void FlightgogglesDynamics::getIMUMeasurement ( Eigen::Vector3d &  accOutput, Eigen::Vector3d &  gyroOutput  )

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 155 of file flightgogglesDynamicsSim.cpp.

getVehicleAngularVelocity()

Eigen::Vector3d FlightgogglesDynamics::getVehicleAngularVelocity ( void  ) const

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 152 of file flightgogglesDynamicsSim.cpp.

getVehicleAttitude()

Eigen::Quaterniond FlightgogglesDynamics::getVehicleAttitude ( void  ) const

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 146 of file flightgogglesDynamicsSim.cpp.

getVehiclePosition()

Eigen::Vector3d FlightgogglesDynamics::getVehiclePosition ( void  ) const

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 143 of file flightgogglesDynamicsSim.cpp.

getVehicleVelocity()

Eigen::Vector3d FlightgogglesDynamics::getVehicleVelocity ( void  ) const

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 149 of file flightgogglesDynamicsSim.cpp.

init()

int8_t FlightgogglesDynamics::init ( )

overridevirtual

Use rosparam here to initialize sim.

Returns

-1 if error occures and simulation can't start

Implements UavDynamicsSimBase.

Definition at line 42 of file flightgogglesDynamicsSim.cpp.

initStaticMotorTransform()

void FlightgogglesDynamics::initStaticMotorTransform ( )

private

Definition at line 113 of file flightgogglesDynamicsSim.cpp.

mapCmdActuator()

std::vector< double > FlightgogglesDynamics::mapCmdActuator ( std::vector< double >  cmd ) const

private

Convert actuator indexes from PX4 notation to internal Flightgoggles notation.

Parameters

cmd	with indexes: 0 - front right, 1 - tail left, 2 - front left, 3 - tail right

Returns

cmd with indexes: 0 - front left, 1 - tail left, 2 - tail right, 3 - front right

Definition at line 160 of file flightgogglesDynamicsSim.cpp.

process()

void FlightgogglesDynamics::process ( double  dt_secs, const std::vector< double > &  motorSpeedCommandIn, bool  isCmdPercent  )

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 136 of file flightgogglesDynamicsSim.cpp.

setInitialPosition()

void FlightgogglesDynamics::setInitialPosition ( const Eigen::Vector3d &  position, const Eigen::Quaterniond &  attitude  )

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 131 of file flightgogglesDynamicsSim.cpp.

Member Data Documentation

multicopterSim_

std::unique_ptr<MulticopterDynamicsSim> FlightgogglesDynamics::multicopterSim_

private

Definition at line 44 of file flightgogglesDynamicsSim.hpp.

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

• flightgogglesDynamicsSim.hpp
• flightgogglesDynamicsSim.cpp