AttitudeController Class Reference

#include <attitude_controller.h>

Inheritance diagram for AttitudeController:

Public Member Functions
	AttitudeController ()
virtual void	CalculateRotorVelocities (Eigen::VectorXd *rotor_velocities) const
virtual std::shared_ptr< ControllerBase >	Clone ()
virtual void	InitializeParams ()
virtual	~AttitudeController ()

Private Member Functions
void	ComputeDesiredAngularAcc (Eigen::Vector3d *angular_acceleration) const

Private Attributes
Eigen::Matrix4Xd	allocation_matrix_
Eigen::MatrixX4d	angular_acc_to_rotor_velocities_
Eigen::Vector3d	gain_angular_rate_
Eigen::Vector3d	gain_attitude_
const double	gravity_
Eigen::Matrix3d	inertia_matrix_
double	mass_

Detailed Description

Definition at line 27 of file attitude_controller.h.

Constructor & Destructor Documentation

AttitudeController()

AttitudeController::AttitudeController

(

)

Definition at line 23 of file attitude_controller.cpp.

~AttitudeController()

AttitudeController::~AttitudeController ( )

virtual

Definition at line 28 of file attitude_controller.cpp.

Member Function Documentation

CalculateRotorVelocities()

void AttitudeController::CalculateRotorVelocities ( Eigen::VectorXd *  rotor_velocities ) const

virtual

Definition at line 85 of file attitude_controller.cpp.

Clone()

std::shared_ptr< ControllerBase > AttitudeController::Clone ( )

virtual

Definition at line 31 of file attitude_controller.cpp.

ComputeDesiredAngularAcc()

void AttitudeController::ComputeDesiredAngularAcc ( Eigen::Vector3d *  angular_acceleration ) const

private

Definition at line 105 of file attitude_controller.cpp.

InitializeParams()

void AttitudeController::InitializeParams ( )

virtual

Definition at line 37 of file attitude_controller.cpp.

Member Data Documentation

allocation_matrix_

Eigen::Matrix4Xd AttitudeController::allocation_matrix_

private

Definition at line 37 of file attitude_controller.h.

angular_acc_to_rotor_velocities_

Eigen::MatrixX4d AttitudeController::angular_acc_to_rotor_velocities_

private

Definition at line 38 of file attitude_controller.h.

gain_angular_rate_

Eigen::Vector3d AttitudeController::gain_angular_rate_

private

Definition at line 40 of file attitude_controller.h.

gain_attitude_

Eigen::Vector3d AttitudeController::gain_attitude_

private

Definition at line 39 of file attitude_controller.h.

gravity_

const double AttitudeController::gravity_

private

Definition at line 44 of file attitude_controller.h.

inertia_matrix_

Eigen::Matrix3d AttitudeController::inertia_matrix_

private

Definition at line 41 of file attitude_controller.h.

mass_

double AttitudeController::mass_

private

Definition at line 43 of file attitude_controller.h.

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

• attitude_controller.h
• attitude_controller.cpp