MotorController Class Reference

#include <motor_controller.h>

Inheritance diagram for MotorController:

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

Private Attributes
Eigen::Matrix4Xd	allocation_matrix_
Eigen::MatrixX4d	angular_acc_to_rotor_velocities_
Eigen::Vector3d	gain_angular_rate_
Eigen::Vector3d	gain_attitude_
Eigen::Matrix3d	inertia_matrix_

Detailed Description

Definition at line 27 of file motor_controller.h.

Constructor & Destructor Documentation

MotorController()

MotorController::MotorController

(

)

Definition at line 23 of file motor_controller.cpp.

~MotorController()

MotorController::~MotorController ( )

virtual

Definition at line 26 of file motor_controller.cpp.

Member Function Documentation

CalculateRotorVelocities()

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

virtual

Definition at line 39 of file motor_controller.cpp.

Clone()

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

virtual

Definition at line 29 of file motor_controller.cpp.

InitializeParams()

void MotorController::InitializeParams ( )

virtual

Definition at line 34 of file motor_controller.cpp.

Member Data Documentation

allocation_matrix_

Eigen::Matrix4Xd MotorController::allocation_matrix_

private

Definition at line 37 of file motor_controller.h.

angular_acc_to_rotor_velocities_

Eigen::MatrixX4d MotorController::angular_acc_to_rotor_velocities_

private

Definition at line 38 of file motor_controller.h.

gain_angular_rate_

Eigen::Vector3d MotorController::gain_angular_rate_

private

Definition at line 40 of file motor_controller.h.

gain_attitude_

Eigen::Vector3d MotorController::gain_attitude_

private

Definition at line 39 of file motor_controller.h.

inertia_matrix_

Eigen::Matrix3d MotorController::inertia_matrix_

private

Definition at line 41 of file motor_controller.h.

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

• motor_controller.h
• motor_controller.cpp