#include <roll_pitch_yawrate_thrust_controller.h>

Public Member Functions
void	CalculateRotorVelocities (Eigen::VectorXd *rotor_velocities) const

void	InitializeParameters ()

	RollPitchYawrateThrustController ()

void	SetOdometry (const EigenOdometry &odometry)

void	SetRollPitchYawrateThrust (const mav_msgs::EigenRollPitchYawrateThrust &roll_pitch_yawrate_thrust)

	~RollPitchYawrateThrustController ()

Public Attributes
RollPitchYawrateThrustControllerParameters	controller_parameters_

VehicleParameters	vehicle_parameters_

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

Private Attributes
Eigen::MatrixX4d	angular_acc_to_rotor_velocities_

bool	controller_active_

bool	initialized_params_

Eigen::Vector3d	normalized_angular_rate_gain_

Eigen::Vector3d	normalized_attitude_gain_

EigenOdometry	odometry_

mav_msgs::EigenRollPitchYawrateThrust	roll_pitch_yawrate_thrust_

Detailed Description

Definition at line 51 of file roll_pitch_yawrate_thrust_controller.h.

Constructor & Destructor Documentation

◆ RollPitchYawrateThrustController()

rotors_control::RollPitchYawrateThrustController::RollPitchYawrateThrustController ( )

Definition at line 25 of file roll_pitch_yawrate_thrust_controller.cpp.

◆ ~RollPitchYawrateThrustController()

rotors_control::RollPitchYawrateThrustController::~RollPitchYawrateThrustController ( )

Definition at line 31 of file roll_pitch_yawrate_thrust_controller.cpp.

Member Function Documentation

◆ CalculateRotorVelocities()

void rotors_control::RollPitchYawrateThrustController::CalculateRotorVelocities ( Eigen::VectorXd * rotor_velocities ) const

Definition at line 55 of file roll_pitch_yawrate_thrust_controller.cpp.

◆ ComputeDesiredAngularAcc()

void rotors_control::RollPitchYawrateThrustController::ComputeDesiredAngularAcc ( Eigen::Vector3d * angular_acceleration ) const

private

Definition at line 90 of file roll_pitch_yawrate_thrust_controller.cpp.

◆ InitializeParameters()

void rotors_control::RollPitchYawrateThrustController::InitializeParameters ( )

Definition at line 33 of file roll_pitch_yawrate_thrust_controller.cpp.

◆ SetOdometry()

void rotors_control::RollPitchYawrateThrustController::SetOdometry ( const EigenOdometry & odometry )

Definition at line 78 of file roll_pitch_yawrate_thrust_controller.cpp.

◆ SetRollPitchYawrateThrust()

void rotors_control::RollPitchYawrateThrustController::SetRollPitchYawrateThrust ( const mav_msgs::EigenRollPitchYawrateThrust & roll_pitch_yawrate_thrust )

Definition at line 82 of file roll_pitch_yawrate_thrust_controller.cpp.