21 #ifndef ROTORS_CONTROL_LEE_POSITION_CONTROLLER_H 22 #define ROTORS_CONTROL_LEE_POSITION_CONTROLLER_H 40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
61 void InitializeParameters();
62 void CalculateRotorVelocities(Eigen::VectorXd* rotor_velocities)
const;
65 void SetTrajectoryPoint(
71 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
83 void ComputeDesiredAngularAcc(
const Eigen::Vector3d& acceleration,
84 Eigen::Vector3d* angular_acceleration)
const;
85 void ComputeDesiredAcceleration(Eigen::Vector3d* acceleration)
const;
89 #endif // ROTORS_CONTROL_LEE_POSITION_CONTROLLER_H mav_msgs::EigenTrajectoryPoint command_trajectory_
static const Eigen::Vector3d kDefaultPositionGain
static const Eigen::Vector3d kDefaultAngularRateGain
Eigen::MatrixX4d angular_acc_to_rotor_velocities_
Eigen::Vector3d normalized_attitude_gain_
static const Eigen::Vector3d kDefaultVelocityGain
Eigen::Vector3d position_gain_
Eigen::Vector3d angular_rate_gain_
static const Eigen::Vector3d kDefaultAttitudeGain
Eigen::Vector3d normalized_angular_rate_gain_
Eigen::Matrix4Xd allocation_matrix_
VehicleParameters vehicle_parameters_
EIGEN_MAKE_ALIGNED_OPERATOR_NEW LeePositionControllerParameters()
RotorConfiguration rotor_configuration_
Eigen::Vector3d velocity_gain_
Eigen::Vector3d attitude_gain_
void calculateAllocationMatrix(const RotorConfiguration &rotor_configuration, Eigen::Matrix4Xd *allocation_matrix)
LeePositionControllerParameters controller_parameters_