rotors_control Namespace Reference

Classes
struct	EigenOdometry
class	LeePositionController
class	LeePositionControllerNode
class	LeePositionControllerParameters
class	RollPitchYawrateThrustController
class	RollPitchYawrateThrustControllerNode
class	RollPitchYawrateThrustControllerParameters
struct	Rotor
struct	RotorConfiguration
class	VehicleParameters

Functions
void	calculateAllocationMatrix (const RotorConfiguration &rotor_configuration, Eigen::Matrix4Xd *allocation_matrix)
void	eigenOdometryFromMsg (const nav_msgs::OdometryConstPtr &msg, EigenOdometry *odometry)
template<typename T >
void	GetRosParameter (const ros::NodeHandle &nh, const std::string &key, const T &default_value, T *value)
void	GetRotorConfiguration (const ros::NodeHandle &nh, RotorConfiguration *rotor_configuration)
void	GetVehicleParameters (const ros::NodeHandle &nh, VehicleParameters *vehicle_parameters)
void	skewMatrixFromVector (Eigen::Vector3d &vector, Eigen::Matrix3d *skew_matrix)
void	vectorFromSkewMatrix (Eigen::Matrix3d &skew_matrix, Eigen::Vector3d *vector)

Variables
static const Eigen::Vector3d	kDefaultAngularRateGain = Eigen::Vector3d(0.52, 0.52, 0.025)
static const Eigen::Vector3d	kDefaultAngularRateGain = Eigen::Vector3d(0.52, 0.52, 0.025)
static constexpr double	kDefaultArmLength = 0.215
static const Eigen::Vector3d	kDefaultAttitudeGain = Eigen::Vector3d(3, 3, 0.035)
static const Eigen::Vector3d	kDefaultAttitudeGain = Eigen::Vector3d(3, 3, 0.035)
static const std::string	kDefaultCommandMotorSpeedTopic
static const std::string	kDefaultCommandMultiDofJointTrajectoryTopic
static const std::string	kDefaultCommandRollPitchYawrateThrustTopic
static constexpr double	kDefaultGravity = 9.81
static const std::string	kDefaultImuTopic
static constexpr double	kDefaultInertiaXx = 0.0347563
static constexpr double	kDefaultInertiaYy = 0.0458929
static constexpr double	kDefaultInertiaZz = 0.0977
static constexpr double	kDefaultMass = 1.56779
static const std::string	kDefaultNamespace = ""
static const std::string	kDefaultOdometryTopic
static const Eigen::Vector3d	kDefaultPositionGain = Eigen::Vector3d(6, 6, 6)
static constexpr double	kDefaultRotor0Angle = 0.52359877559
static constexpr double	kDefaultRotor1Angle = 1.57079632679
static constexpr double	kDefaultRotor2Angle = 2.61799387799
static constexpr double	kDefaultRotor3Angle = -2.61799387799
static constexpr double	kDefaultRotor4Angle = -1.57079632679
static constexpr double	kDefaultRotor5Angle = -0.52359877559
static constexpr double	kDefaultRotorForceConstant = 8.54858e-6
static constexpr double	kDefaultRotorMomentConstant = 1.6e-2
static const Eigen::Vector3d	kDefaultVelocityGain = Eigen::Vector3d(4.7, 4.7, 4.7)

Function Documentation

calculateAllocationMatrix()

void rotors_control::calculateAllocationMatrix ( const RotorConfiguration &  rotor_configuration, Eigen::Matrix4Xd *  allocation_matrix  )

inline

Definition at line 79 of file common.h.

eigenOdometryFromMsg()

void rotors_control::eigenOdometryFromMsg ( const nav_msgs::OdometryConstPtr &  msg, EigenOdometry *  odometry  )

inline

Definition at line 71 of file common.h.

GetRosParameter()

template<typename T >

void rotors_control::GetRosParameter ( const ros::NodeHandle &  nh, const std::string &  key, const T &  default_value, T *  value  )

inline

Definition at line 10 of file parameters_ros.h.

GetRotorConfiguration()

void rotors_control::GetRotorConfiguration ( const ros::NodeHandle &  nh, RotorConfiguration *  rotor_configuration  )

inline

Definition at line 23 of file parameters_ros.h.

GetVehicleParameters()

void rotors_control::GetVehicleParameters ( const ros::NodeHandle &  nh, VehicleParameters *  vehicle_parameters  )

inline

Definition at line 48 of file parameters_ros.h.

skewMatrixFromVector()

void rotors_control::skewMatrixFromVector ( Eigen::Vector3d &  vector, Eigen::Matrix3d *  skew_matrix  )

inline

Definition at line 110 of file common.h.

vectorFromSkewMatrix()

void rotors_control::vectorFromSkewMatrix ( Eigen::Matrix3d &  skew_matrix, Eigen::Vector3d *  vector  )

inline

Definition at line 116 of file common.h.

Variable Documentation

kDefaultAngularRateGain [1/2]

const Eigen::Vector3d rotors_control::kDefaultAngularRateGain = Eigen::Vector3d(0.52, 0.52, 0.025)

static

Definition at line 34 of file roll_pitch_yawrate_thrust_controller.h.

kDefaultAngularRateGain [2/2]

const Eigen::Vector3d rotors_control::kDefaultAngularRateGain = Eigen::Vector3d(0.52, 0.52, 0.025)

static

Definition at line 36 of file lee_position_controller.h.

kDefaultArmLength

constexpr double rotors_control::kDefaultArmLength = 0.215

static

Definition at line 15 of file parameters.h.

kDefaultAttitudeGain [1/2]

const Eigen::Vector3d rotors_control::kDefaultAttitudeGain = Eigen::Vector3d(3, 3, 0.035)

static

Definition at line 33 of file roll_pitch_yawrate_thrust_controller.h.

kDefaultAttitudeGain [2/2]

const Eigen::Vector3d rotors_control::kDefaultAttitudeGain = Eigen::Vector3d(3, 3, 0.035)

static

Definition at line 35 of file lee_position_controller.h.

kDefaultCommandMotorSpeedTopic

const std::string rotors_control::kDefaultCommandMotorSpeedTopic

static

Initial value:

=
    mav_msgs::default_topics::COMMAND_ACTUATORS

Definition at line 36 of file common.h.

kDefaultCommandMultiDofJointTrajectoryTopic

const std::string rotors_control::kDefaultCommandMultiDofJointTrajectoryTopic

static

Initial value:

=
    mav_msgs::default_topics::COMMAND_TRAJECTORY

Definition at line 38 of file common.h.

kDefaultCommandRollPitchYawrateThrustTopic

const std::string rotors_control::kDefaultCommandRollPitchYawrateThrustTopic

static

Initial value:

=
    mav_msgs::default_topics::COMMAND_ROLL_PITCH_YAWRATE_THRUST

Definition at line 40 of file common.h.

kDefaultGravity

constexpr double rotors_control::kDefaultGravity = 9.81

static

Definition at line 23 of file parameters.h.

kDefaultImuTopic

const std::string rotors_control::kDefaultImuTopic

static

Initial value:

=
    mav_msgs::default_topics::IMU

Definition at line 43 of file common.h.

kDefaultInertiaXx

constexpr double rotors_control::kDefaultInertiaXx = 0.0347563

static

Definition at line 16 of file parameters.h.

kDefaultInertiaYy

constexpr double rotors_control::kDefaultInertiaYy = 0.0458929

static

Definition at line 17 of file parameters.h.

kDefaultInertiaZz

constexpr double rotors_control::kDefaultInertiaZz = 0.0977

static

Definition at line 18 of file parameters.h.

kDefaultMass

constexpr double rotors_control::kDefaultMass = 1.56779

static

Definition at line 14 of file parameters.h.

kDefaultNamespace

const std::string rotors_control::kDefaultNamespace = ""

static

Definition at line 35 of file common.h.

kDefaultOdometryTopic

const std::string rotors_control::kDefaultOdometryTopic

static

Initial value:

=
    mav_msgs::default_topics::ODOMETRY

Definition at line 45 of file common.h.

kDefaultPositionGain

const Eigen::Vector3d rotors_control::kDefaultPositionGain = Eigen::Vector3d(6, 6, 6)

static

Definition at line 33 of file lee_position_controller.h.

kDefaultRotor0Angle

constexpr double rotors_control::kDefaultRotor0Angle = 0.52359877559

static

Definition at line 6 of file parameters.h.

kDefaultRotor1Angle

constexpr double rotors_control::kDefaultRotor1Angle = 1.57079632679

static

Definition at line 7 of file parameters.h.

kDefaultRotor2Angle

constexpr double rotors_control::kDefaultRotor2Angle = 2.61799387799

static

Definition at line 8 of file parameters.h.

kDefaultRotor3Angle

constexpr double rotors_control::kDefaultRotor3Angle = -2.61799387799

static

Definition at line 9 of file parameters.h.

kDefaultRotor4Angle

constexpr double rotors_control::kDefaultRotor4Angle = -1.57079632679

static

Definition at line 10 of file parameters.h.

kDefaultRotor5Angle

constexpr double rotors_control::kDefaultRotor5Angle = -0.52359877559

static

Definition at line 11 of file parameters.h.

kDefaultRotorForceConstant

constexpr double rotors_control::kDefaultRotorForceConstant = 8.54858e-6

static

Definition at line 19 of file parameters.h.

kDefaultRotorMomentConstant

constexpr double rotors_control::kDefaultRotorMomentConstant = 1.6e-2

static

Definition at line 20 of file parameters.h.

kDefaultVelocityGain

const Eigen::Vector3d rotors_control::kDefaultVelocityGain = Eigen::Vector3d(4.7, 4.7, 4.7)

static

Definition at line 34 of file lee_position_controller.h.