rotors_control::LeePositionController Class Reference

#include <lee_position_controller.h>

Public Member Functions
void	CalculateRotorVelocities (Eigen::VectorXd *rotor_velocities) const
void	InitializeParameters ()
	LeePositionController ()
void	SetOdometry (const EigenOdometry &odometry)
void	SetTrajectoryPoint (const mav_msgs::EigenTrajectoryPoint &command_trajectory)
	~LeePositionController ()

Public Attributes
LeePositionControllerParameters	controller_parameters_
VehicleParameters	vehicle_parameters_

Private Member Functions
void	ComputeDesiredAcceleration (Eigen::Vector3d *acceleration) const
void	ComputeDesiredAngularAcc (const Eigen::Vector3d &acceleration, Eigen::Vector3d *angular_acceleration) const

Private Attributes
Eigen::MatrixX4d	angular_acc_to_rotor_velocities_
mav_msgs::EigenTrajectoryPoint	command_trajectory_
bool	controller_active_
bool	initialized_params_
Eigen::Vector3d	normalized_angular_rate_gain_
Eigen::Vector3d	normalized_attitude_gain_
EigenOdometry	odometry_

Detailed Description

Definition at line 57 of file lee_position_controller.h.

Constructor & Destructor Documentation

LeePositionController()

rotors_control::LeePositionController::LeePositionController

(

)

Definition at line 25 of file lee_position_controller.cpp.

~LeePositionController()

rotors_control::LeePositionController::~LeePositionController

(

)

Definition at line 31 of file lee_position_controller.cpp.

Member Function Documentation

CalculateRotorVelocities()

void rotors_control::LeePositionController::CalculateRotorVelocities

(

Eigen::VectorXd *

rotor_velocities

)

const

Definition at line 55 of file lee_position_controller.cpp.

ComputeDesiredAcceleration()

void rotors_control::LeePositionController::ComputeDesiredAcceleration ( Eigen::Vector3d *  acceleration ) const

private

Definition at line 94 of file lee_position_controller.cpp.

ComputeDesiredAngularAcc()

void rotors_control::LeePositionController::ComputeDesiredAngularAcc ( const Eigen::Vector3d &  acceleration, Eigen::Vector3d *  angular_acceleration  ) const

private

Definition at line 115 of file lee_position_controller.cpp.

InitializeParameters()

void rotors_control::LeePositionController::InitializeParameters

(

)

Definition at line 33 of file lee_position_controller.cpp.

SetOdometry()

void rotors_control::LeePositionController::SetOdometry

(

const EigenOdometry &

odometry

)

Definition at line 84 of file lee_position_controller.cpp.

SetTrajectoryPoint()

void rotors_control::LeePositionController::SetTrajectoryPoint

(

const mav_msgs::EigenTrajectoryPoint &

command_trajectory

)

Definition at line 88 of file lee_position_controller.cpp.

Member Data Documentation

angular_acc_to_rotor_velocities_

Eigen::MatrixX4d rotors_control::LeePositionController::angular_acc_to_rotor_velocities_

private

Definition at line 78 of file lee_position_controller.h.

command_trajectory_

mav_msgs::EigenTrajectoryPoint rotors_control::LeePositionController::command_trajectory_

private

Definition at line 80 of file lee_position_controller.h.

controller_active_

bool rotors_control::LeePositionController::controller_active_

private

Definition at line 74 of file lee_position_controller.h.

controller_parameters_

LeePositionControllerParameters rotors_control::LeePositionController::controller_parameters_

Definition at line 68 of file lee_position_controller.h.

initialized_params_

bool rotors_control::LeePositionController::initialized_params_

private

Definition at line 73 of file lee_position_controller.h.

normalized_angular_rate_gain_

Eigen::Vector3d rotors_control::LeePositionController::normalized_angular_rate_gain_

private

Definition at line 77 of file lee_position_controller.h.

normalized_attitude_gain_

Eigen::Vector3d rotors_control::LeePositionController::normalized_attitude_gain_

private

Definition at line 76 of file lee_position_controller.h.

odometry_

EigenOdometry rotors_control::LeePositionController::odometry_

private

Definition at line 81 of file lee_position_controller.h.

vehicle_parameters_

VehicleParameters rotors_control::LeePositionController::vehicle_parameters_

Definition at line 69 of file lee_position_controller.h.

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

• lee_position_controller.h
• lee_position_controller.cpp