rosflight_sim::Multirotor Class Reference

#include <multirotor_forces_and_moments.h>

Inheritance diagram for rosflight_sim::Multirotor:

Classes
struct	Actuator
struct	Actuators
struct	Motor
struct	Rotor

Public Member Functions
	Multirotor (ros::NodeHandle *nh)
void	set_wind (Eigen::Vector3d wind)
Eigen::Matrix< double, 6, 1 >	updateForcesAndTorques (Current_State x, const int act_cmds[])
	~Multirotor ()

Private Attributes
Eigen::VectorXd	actual_forces_
Eigen::VectorXd	actual_torques_
struct rosflight_sim::Multirotor::Actuators	actuators_
double	angular_mu_
Eigen::VectorXd	desired_forces_
Eigen::VectorXd	desired_torques_
Eigen::MatrixXd	force_allocation_matrix_
std::vector< double >	ground_effect_
double	linear_mu_
double	mass_
std::vector< Motor >	motors_
ros::NodeHandle *	nh_
int	num_rotors_
double	prev_time_
Eigen::MatrixXd	rotor_plane_normal_
Eigen::MatrixXd	rotor_position_
Eigen::VectorXd	rotor_rotation_direction_
Eigen::MatrixXd	torque_allocation_matrix_
Eigen::Vector3d	wind_

Additional Inherited Members
Protected Member Functions inherited from rosflight_sim::MAVForcesAndMoments
double	max (double x, double y)
double	sat (double x, double max, double min)

Detailed Description

Definition at line 42 of file multirotor_forces_and_moments.h.

Constructor & Destructor Documentation

Multirotor()

rosflight_sim::Multirotor::Multirotor

(

ros::NodeHandle *

nh

)

Definition at line 36 of file multirotor_forces_and_moments.cpp.

~Multirotor()

rosflight_sim::Multirotor::~Multirotor

(

)

Member Function Documentation

set_wind()

void rosflight_sim::Multirotor::set_wind ( Eigen::Vector3d  wind )

virtual

Implements rosflight_sim::MAVForcesAndMoments.

Definition at line 175 of file multirotor_forces_and_moments.cpp.

updateForcesAndTorques()

Eigen::Matrix< double, 6, 1 > rosflight_sim::Multirotor::updateForcesAndTorques ( Current_State  x, const int  act_cmds[]  )

virtual

Implements rosflight_sim::MAVForcesAndMoments.

Definition at line 120 of file multirotor_forces_and_moments.cpp.

Member Data Documentation

actual_forces_

Eigen::VectorXd rosflight_sim::Multirotor::actual_forces_

private

Definition at line 102 of file multirotor_forces_and_moments.h.

actual_torques_

Eigen::VectorXd rosflight_sim::Multirotor::actual_torques_

private

Definition at line 103 of file multirotor_forces_and_moments.h.

actuators_

struct rosflight_sim::Multirotor::Actuators rosflight_sim::Multirotor::actuators_

private

angular_mu_

double rosflight_sim::Multirotor::angular_mu_

private

Definition at line 71 of file multirotor_forces_and_moments.h.

desired_forces_

Eigen::VectorXd rosflight_sim::Multirotor::desired_forces_

private

Definition at line 100 of file multirotor_forces_and_moments.h.

desired_torques_

Eigen::VectorXd rosflight_sim::Multirotor::desired_torques_

private

Definition at line 101 of file multirotor_forces_and_moments.h.

force_allocation_matrix_

Eigen::MatrixXd rosflight_sim::Multirotor::force_allocation_matrix_

private

Definition at line 98 of file multirotor_forces_and_moments.h.

ground_effect_

std::vector<double> rosflight_sim::Multirotor::ground_effect_

private

Definition at line 72 of file multirotor_forces_and_moments.h.

linear_mu_

double rosflight_sim::Multirotor::linear_mu_

private

Definition at line 70 of file multirotor_forces_and_moments.h.

mass_

double rosflight_sim::Multirotor::mass_

private

Definition at line 74 of file multirotor_forces_and_moments.h.

motors_

std::vector<Motor> rosflight_sim::Multirotor::motors_

private

Definition at line 68 of file multirotor_forces_and_moments.h.

nh_

ros::NodeHandle* rosflight_sim::Multirotor::nh_

private

Definition at line 45 of file multirotor_forces_and_moments.h.

num_rotors_

int rosflight_sim::Multirotor::num_rotors_

private

Definition at line 67 of file multirotor_forces_and_moments.h.

prev_time_

double rosflight_sim::Multirotor::prev_time_

private

Definition at line 48 of file multirotor_forces_and_moments.h.

rotor_plane_normal_

Eigen::MatrixXd rosflight_sim::Multirotor::rotor_plane_normal_

private

Definition at line 95 of file multirotor_forces_and_moments.h.

rotor_position_

Eigen::MatrixXd rosflight_sim::Multirotor::rotor_position_

private

Definition at line 94 of file multirotor_forces_and_moments.h.

rotor_rotation_direction_

Eigen::VectorXd rosflight_sim::Multirotor::rotor_rotation_direction_

private

Definition at line 96 of file multirotor_forces_and_moments.h.

torque_allocation_matrix_

Eigen::MatrixXd rosflight_sim::Multirotor::torque_allocation_matrix_

private

Definition at line 99 of file multirotor_forces_and_moments.h.

wind_

Eigen::Vector3d rosflight_sim::Multirotor::wind_

private

Definition at line 46 of file multirotor_forces_and_moments.h.

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

• multirotor_forces_and_moments.h
• multirotor_forces_and_moments.cpp