MultiCopter Class Reference

#include <multi_copter.hpp>

Public Member Functions
const Eigen::Quaterniond	attitude ()
Eigen::VectorXd	getMotorVelocities ()
Eigen::VectorXd	getRefMotorVelocities (double dt)
virtual void	initializeParams ()=0
const MotorController	motorController ()
	MultiCopter (int amount_rotors)
	MultiCopter (int amount_rotors, MotorController &motor_controller)
const Eigen::Vector3d	position ()
virtual void	publish ()=0
void	setMotorController (MotorController &motor_controller)
virtual Eigen::Vector4d	simulateMAV (double dt, Eigen::VectorXd ref_rotor_rot_vels)=0
const Eigen::Vector3d	velocity ()
	~MultiCopter ()

Protected Attributes
Eigen::Vector3d	angular_rate_
Eigen::Quaterniond	attitude_
MotorController	motor_controller_
Eigen::Vector3d	position_
Eigen::VectorXd	rotor_rot_vels_
Eigen::Vector3d	velocity_

Detailed Description

Definition at line 30 of file multi_copter.hpp.

Constructor & Destructor Documentation

MultiCopter() [1/2]

MultiCopter::MultiCopter ( int  amount_rotors )

inline

Definition at line 33 of file multi_copter.hpp.

MultiCopter() [2/2]

MultiCopter::MultiCopter ( int  amount_rotors, MotorController &  motor_controller  )

inline

Definition at line 39 of file multi_copter.hpp.

~MultiCopter()

MultiCopter::~MultiCopter

(

)

Member Function Documentation

attitude()

const Eigen::Quaterniond MultiCopter::attitude ( )

inline

Definition at line 70 of file multi_copter.hpp.

getMotorVelocities()

Eigen::VectorXd MultiCopter::getMotorVelocities ( )

inline

Definition at line 56 of file multi_copter.hpp.

getRefMotorVelocities()

Eigen::VectorXd MultiCopter::getRefMotorVelocities ( double  dt )

inline

Definition at line 52 of file multi_copter.hpp.

initializeParams()

virtual void MultiCopter::initializeParams ( )

pure virtual

motorController()

const MotorController MultiCopter::motorController ( )

inline

Definition at line 65 of file multi_copter.hpp.

position()

const Eigen::Vector3d MultiCopter::position ( )

inline

Definition at line 68 of file multi_copter.hpp.

publish()

virtual void MultiCopter::publish ( )

pure virtual

setMotorController()

void MultiCopter::setMotorController ( MotorController &  motor_controller )

inline

Definition at line 47 of file multi_copter.hpp.

simulateMAV()

virtual Eigen::Vector4d MultiCopter::simulateMAV ( double  dt, Eigen::VectorXd  ref_rotor_rot_vels  )

pure virtual

velocity()

const Eigen::Vector3d MultiCopter::velocity ( )

inline

Definition at line 69 of file multi_copter.hpp.

Member Data Documentation

angular_rate_

Eigen::Vector3d MultiCopter::angular_rate_

protected

Definition at line 78 of file multi_copter.hpp.

attitude_

Eigen::Quaterniond MultiCopter::attitude_

protected

Definition at line 77 of file multi_copter.hpp.

motor_controller_

MotorController MultiCopter::motor_controller_

protected

Definition at line 74 of file multi_copter.hpp.

position_

Eigen::Vector3d MultiCopter::position_

protected

Definition at line 75 of file multi_copter.hpp.

rotor_rot_vels_

Eigen::VectorXd MultiCopter::rotor_rot_vels_

protected

Definition at line 79 of file multi_copter.hpp.

velocity_

Eigen::Vector3d MultiCopter::velocity_

protected

Definition at line 76 of file multi_copter.hpp.

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

• multi_copter.hpp