RateController Class Reference

#include <rate_controller.h>

Inheritance diagram for RateController:

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

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_
const double	gravity_
Eigen::Matrix3d	inertia_matrix_
double	mass_

Detailed Description

Definition at line 27 of file rate_controller.h.

Constructor & Destructor Documentation

RateController()

RateController::RateController

(

)

Definition at line 23 of file rate_controller.cpp.

~RateController()

RateController::~RateController ( )

virtual

Definition at line 27 of file rate_controller.cpp.

Member Function Documentation

CalculateRotorVelocities()

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

virtual

Definition at line 76 of file rate_controller.cpp.

Clone()

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

virtual

Definition at line 29 of file rate_controller.cpp.

ComputeDesiredAngularAcc()

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

private

Definition at line 96 of file rate_controller.cpp.

InitializeParams()

void RateController::InitializeParams ( )

virtual

Definition at line 34 of file rate_controller.cpp.

Member Data Documentation

allocation_matrix_

Eigen::Matrix4Xd RateController::allocation_matrix_

private

Definition at line 37 of file rate_controller.h.

angular_acc_to_rotor_velocities_

Eigen::MatrixX4d RateController::angular_acc_to_rotor_velocities_

private

Definition at line 38 of file rate_controller.h.

gain_angular_rate_

Eigen::Vector3d RateController::gain_angular_rate_

private

Definition at line 39 of file rate_controller.h.

gravity_

const double RateController::gravity_

private

Definition at line 43 of file rate_controller.h.

inertia_matrix_

Eigen::Matrix3d RateController::inertia_matrix_

private

Definition at line 40 of file rate_controller.h.

mass_

double RateController::mass_

private

Definition at line 42 of file rate_controller.h.

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

• rate_controller.h
• rate_controller.cpp