22 #ifndef ROTORS_GAZEBO_PLUGIN_MOTOR_CONTROLLER_H 23 #define ROTORS_GAZEBO_PLUGIN_MOTOR_CONTROLLER_H 25 #include <Eigen/Eigen> 31 ref_rotor_rot_vels_(
Eigen::VectorXd::Zero(amount_motors)){};
33 void getMotorVelocities() {
34 calculateRefMotorVelocities();
35 return ref_rotor_rot_vels_;
38 virtual void calculateRefMotorVelocities() = 0;
39 virtual void initializeParams() = 0;
40 virtual void publish() = 0;
42 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
47 Eigen::Vector3d position_;
48 Eigen::Vector3d velocity_;
49 Eigen::Quaternion attitude_;
50 Eigen::VectorXd ref_rotor_rot_vels_;
53 #endif // ROTORS_GAZEBO_PLUGIN_MOTOR_CONTROLLER_H
virtual ~MotorController()