AttitudeControllerSamy Class Reference

#include <attitude_controller_samy.h>

Inheritance diagram for AttitudeControllerSamy:

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

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_samy.h.

Constructor & Destructor Documentation

AttitudeControllerSamy()

AttitudeControllerSamy::AttitudeControllerSamy

(

)

Definition at line 25 of file attitude_controller_samy.cpp.

~AttitudeControllerSamy()

AttitudeControllerSamy::~AttitudeControllerSamy ( )

virtual

Definition at line 30 of file attitude_controller_samy.cpp.

Member Function Documentation

CalculateRotorVelocities()

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

virtual

Definition at line 86 of file attitude_controller_samy.cpp.

Clone()

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

virtual

Definition at line 33 of file attitude_controller_samy.cpp.

ComputeDesiredAngularAcc()

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

private

Definition at line 105 of file attitude_controller_samy.cpp.

InitializeParams()

void AttitudeControllerSamy::InitializeParams ( )

virtual

Definition at line 38 of file attitude_controller_samy.cpp.

Member Data Documentation

allocation_matrix_

Eigen::Matrix4Xd AttitudeControllerSamy::allocation_matrix_

private

Definition at line 37 of file attitude_controller_samy.h.

angular_acc_to_rotor_velocities_

Eigen::MatrixX4d AttitudeControllerSamy::angular_acc_to_rotor_velocities_

private

Definition at line 38 of file attitude_controller_samy.h.

gain_angular_rate_

Eigen::Vector3d AttitudeControllerSamy::gain_angular_rate_

private

Definition at line 40 of file attitude_controller_samy.h.

gain_attitude_

Eigen::Vector3d AttitudeControllerSamy::gain_attitude_

private

Definition at line 39 of file attitude_controller_samy.h.

gravity_

const double AttitudeControllerSamy::gravity_

private

Definition at line 44 of file attitude_controller_samy.h.

inertia_matrix_

Eigen::Matrix3d AttitudeControllerSamy::inertia_matrix_

private

Definition at line 41 of file attitude_controller_samy.h.

mass_

double AttitudeControllerSamy::mass_

private

Definition at line 43 of file attitude_controller_samy.h.

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

• attitude_controller_samy.h
• attitude_controller_samy.cpp