UavDynamicsSimBase Class Reference

#include <uavDynamicsSimBase.hpp>

Inheritance diagram for UavDynamicsSimBase:

Public Types
enum	SimMode_t {   SimMode_t::NORMAL = 0, SimMode_t::MAG_1_NORMAL = 1, SimMode_t::MAG_2_OVERTURNED = 2, SimMode_t::MAG_3_HEAD_DOWN = 3,   SimMode_t::MAG_4_HEAD_UP = 4, SimMode_t::MAG_5_TURNED_LEFT = 5, SimMode_t::MAG_6_TURNED_RIGHT = 6, SimMode_t::MAG_7_ARDUPILOT = 7,   SimMode_t::MAG_8_ARDUPILOT = 8, SimMode_t::MAG_9_ARDUPILOT = 9, SimMode_t::ACC_1_NORMAL = 11, SimMode_t::ACC_2_OVERTURNED = 12,   SimMode_t::ACC_3_HEAD_DOWN = 13, SimMode_t::ACC_4_HEAD_UP = 14, SimMode_t::ACC_5_TURNED_LEFT = 15, SimMode_t::ACC_6_TURNED_RIGHT = 16,   SimMode_t::AIRSPEED = 21 }

Public Member Functions
virtual int8_t	calibrate (SimMode_t calibrationType)
virtual void	getIMUMeasurement (Eigen::Vector3d &accOutput, Eigen::Vector3d &gyroOutput)=0
virtual bool	getMotorsRpm (std::vector< double > &motorsRpm)
virtual Eigen::Vector3d	getVehicleAirspeed () const =0
virtual Eigen::Vector3d	getVehicleAngularVelocity (void) const =0
virtual Eigen::Quaterniond	getVehicleAttitude () const =0
virtual Eigen::Vector3d	getVehiclePosition () const =0
virtual Eigen::Vector3d	getVehicleVelocity (void) const =0
virtual int8_t	init ()=0
	Use rosparam here to initialize sim. More...
virtual void	land ()
virtual void	process (double dt_secs, const std::vector< double > &setpoint)=0
virtual void	setInitialPosition (const Eigen::Vector3d &position, const Eigen::Quaterniond &attitude)=0
virtual void	setWindParameter (Eigen::Vector3d windMeanVelocityNED, double wind_velocityVariance)
	UavDynamicsSimBase ()=default
virtual	~UavDynamicsSimBase ()=default

Detailed Description

Definition at line 30 of file uavDynamicsSimBase.hpp.

Member Enumeration Documentation

SimMode_t

enum UavDynamicsSimBase::SimMode_t

strong

Enumerator
NORMAL
MAG_1_NORMAL
MAG_2_OVERTURNED
MAG_3_HEAD_DOWN
MAG_4_HEAD_UP
MAG_5_TURNED_LEFT
MAG_6_TURNED_RIGHT
MAG_7_ARDUPILOT
MAG_8_ARDUPILOT
MAG_9_ARDUPILOT
ACC_1_NORMAL
ACC_2_OVERTURNED
ACC_3_HEAD_DOWN
ACC_4_HEAD_UP
ACC_5_TURNED_LEFT
ACC_6_TURNED_RIGHT
AIRSPEED

Definition at line 57 of file uavDynamicsSimBase.hpp.

Constructor & Destructor Documentation

UavDynamicsSimBase()

UavDynamicsSimBase::UavDynamicsSimBase ( )

default

~UavDynamicsSimBase()

virtual UavDynamicsSimBase::~UavDynamicsSimBase ( )

virtualdefault

Member Function Documentation

calibrate()

virtual int8_t UavDynamicsSimBase::calibrate ( SimMode_t  calibrationType )

inlinevirtual

Reimplemented in VtolDynamics.

Definition at line 79 of file uavDynamicsSimBase.hpp.

getIMUMeasurement()

virtual void UavDynamicsSimBase::getIMUMeasurement ( Eigen::Vector3d &  accOutput, Eigen::Vector3d &  gyroOutput  )

pure virtual

Implemented in MultirotorDynamics, and VtolDynamics.

getMotorsRpm()

bool UavDynamicsSimBase::getMotorsRpm ( std::vector< double > &  motorsRpm )

virtual

Reimplemented in VtolDynamics, and MultirotorDynamics.

Definition at line 22 of file uavDynamicsSimBase.cpp.

getVehicleAirspeed()

virtual Eigen::Vector3d UavDynamicsSimBase::getVehicleAirspeed ( ) const

pure virtual

Implemented in VtolDynamics, and MultirotorDynamics.

getVehicleAngularVelocity()

virtual Eigen::Vector3d UavDynamicsSimBase::getVehicleAngularVelocity ( void  ) const

pure virtual

Implemented in MultirotorDynamics, and VtolDynamics.

getVehicleAttitude()

virtual Eigen::Quaterniond UavDynamicsSimBase::getVehicleAttitude ( ) const

pure virtual

Implemented in VtolDynamics, and MultirotorDynamics.

getVehiclePosition()

virtual Eigen::Vector3d UavDynamicsSimBase::getVehiclePosition ( ) const

pure virtual

Implemented in VtolDynamics, and MultirotorDynamics.

getVehicleVelocity()

virtual Eigen::Vector3d UavDynamicsSimBase::getVehicleVelocity ( void  ) const

pure virtual

Implemented in MultirotorDynamics, and VtolDynamics.

init()

virtual int8_t UavDynamicsSimBase::init ( )

pure virtual

Use rosparam here to initialize sim.

Returns

-1 if error occures and simulation can't start

Implemented in VtolDynamics, and MultirotorDynamics.

land()

virtual void UavDynamicsSimBase::land ( )

inlinevirtual

Reimplemented in VtolDynamics.

Definition at line 44 of file uavDynamicsSimBase.hpp.

process()

virtual void UavDynamicsSimBase::process ( double  dt_secs, const std::vector< double > &  setpoint  )

pure virtual

Implemented in VtolDynamics, and MultirotorDynamics.

setInitialPosition()

virtual void UavDynamicsSimBase::setInitialPosition ( const Eigen::Vector3d &  position, const Eigen::Quaterniond &  attitude  )

pure virtual

Implemented in VtolDynamics, and MultirotorDynamics.

setWindParameter()

virtual void UavDynamicsSimBase::setWindParameter ( Eigen::Vector3d  windMeanVelocityNED, double  wind_velocityVariance  )

inlinevirtual

Reimplemented in VtolDynamics.

Definition at line 42 of file uavDynamicsSimBase.hpp.

---

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

• uavDynamicsSimBase.hpp
• uavDynamicsSimBase.cpp