rosflight_sim::ROSflightSIL Class Reference

#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

ROSflightSIL()

rosflight_sim::ROSflightSIL::ROSflightSIL

(

)

Definition at line 45 of file rosflight_sil.cpp.

~ROSflightSIL()

rosflight_sim::ROSflightSIL::~ROSflightSIL

(

)

Definition at line 47 of file rosflight_sil.cpp.

Member Function Documentation

Load()

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

overrideprotected

Definition at line 57 of file rosflight_sil.cpp.

OnUpdate()

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

protected

Definition at line 122 of file rosflight_sil.cpp.

publishTruth()

void rosflight_sim::ROSflightSIL::publishTruth ( )

private

Definition at line 169 of file rosflight_sil.cpp.

Reset()

void rosflight_sim::ROSflightSIL::Reset ( )

overrideprotected

Definition at line 154 of file rosflight_sil.cpp.

rotation_to_eigen_from_gazebo()

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

private

Definition at line 221 of file rosflight_sil.cpp.

vec3_to_eigen_from_gazebo()

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

private

Definition at line 208 of file rosflight_sil.cpp.

vec3_to_gazebo_from_eigen()

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

private

Definition at line 215 of file rosflight_sil.cpp.

windCallback()

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

private

Definition at line 162 of file rosflight_sil.cpp.

Member Data Documentation

applied_forces_

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

private

Definition at line 92 of file rosflight_sil.h.

board_

SIL_Board rosflight_sim::ROSflightSIL::board_

private

Definition at line 70 of file rosflight_sil.h.

comm_

rosflight_firmware::Mavlink rosflight_sim::ROSflightSIL::comm_

private

Definition at line 71 of file rosflight_sil.h.

firmware_

rosflight_firmware::ROSflight rosflight_sim::ROSflightSIL::firmware_

private

Definition at line 72 of file rosflight_sil.h.

forces_

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

private

Definition at line 92 of file rosflight_sil.h.

initial_pose_

GazeboPose rosflight_sim::ROSflightSIL::initial_pose_

private

Definition at line 100 of file rosflight_sil.h.

joint_

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

private

Definition at line 81 of file rosflight_sil.h.

link_

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

private

Definition at line 80 of file rosflight_sil.h.

link_name_

std::string rosflight_sim::ROSflightSIL::link_name_

private

Definition at line 76 of file rosflight_sil.h.

mav_dynamics_

MAVForcesAndMoments* rosflight_sim::ROSflightSIL::mav_dynamics_

private

Definition at line 89 of file rosflight_sil.h.

mav_type_

std::string rosflight_sim::ROSflightSIL::mav_type_

private

Definition at line 74 of file rosflight_sil.h.

model_

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

private

Definition at line 79 of file rosflight_sil.h.

namespace_

std::string rosflight_sim::ROSflightSIL::namespace_

private

Definition at line 75 of file rosflight_sil.h.

nh_

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

private

Definition at line 97 of file rosflight_sil.h.

parent_link_

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

private

Definition at line 82 of file rosflight_sil.h.

start_time_us_

uint64_t rosflight_sim::ROSflightSIL::start_time_us_

private

Definition at line 95 of file rosflight_sil.h.

truth_NED_pub_

ros::Publisher rosflight_sim::ROSflightSIL::truth_NED_pub_

private

Definition at line 86 of file rosflight_sil.h.

truth_NWU_pub_

ros::Publisher rosflight_sim::ROSflightSIL::truth_NWU_pub_

private

Definition at line 87 of file rosflight_sil.h.

updateConnection_

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

private

Definition at line 83 of file rosflight_sil.h.

wind_sub_

ros::Subscriber rosflight_sim::ROSflightSIL::wind_sub_

private

Definition at line 85 of file rosflight_sil.h.

world_

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

private

Definition at line 78 of file rosflight_sil.h.

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

• rosflight_sil.h
• rosflight_sil.cpp