21 #ifndef ROTORS_CONTROL_RATE_CONTROLLER_H 22 #define ROTORS_CONTROL_RATE_CONTROLLER_H 24 #include "rotors_control/controller_base.h" 25 #include "rotors_control/controller_factory.h" 32 virtual std::shared_ptr<ControllerBase>
Clone();
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49 #endif // ROTORS_CONTROL_RATE_CONTROLLER_H Eigen::Matrix4Xd allocation_matrix_
void ComputeDesiredAngularAcc(Eigen::Vector3d *angular_acceleration) const
virtual void InitializeParams()
virtual std::shared_ptr< ControllerBase > Clone()
virtual ~RateController()
Eigen::MatrixX4d angular_acc_to_rotor_velocities_
virtual void CalculateRotorVelocities(Eigen::VectorXd *rotor_velocities) const
Eigen::Matrix3d inertia_matrix_
Eigen::Vector3d gain_angular_rate_