Quadrotor_tk_Handler Class Reference

#include <Quadrotor_tk_Handler.h>

Inheritance diagram for Quadrotor_tk_Handler:

List of all members.

Public Member Functions
unsigned int	getObjectType () const
void	handleSimulation ()
	Quadrotor_tk_Handler ()
void	synchronize ()
	~Quadrotor_tk_Handler ()
Protected Member Functions
void	_initialize ()
void	tkCommandsCallback (const telekyb_msgs::TKCommands::ConstPtr &msg)
void	tkMotorCommandsCallback (const telekyb_msgs::TKMotorCommands::ConstPtr &msg)
Protected Attributes
simFloat	_att_cutoff
simFloat	_att_damping
CustomDataHeaders::QuadrotorCtrlMode	_ctrlMode
int	_handleOfCoM
int	_handleOfJoint [4]
float	_integralTermPitch
float	_integralTermRoll
simFloat	_jointPosition [4][3]
simFloat	_kp_yaw
ros::Time	_lastPrintedMsg
ros::Time	_lastReceivedCmdTime
ros::Time	_previousTime
ros::Publisher	_pub
ros::Publisher	_pubIMU
simFloat	_quadrotorMass
ros::Subscriber	_sub
telekyb_msgs::TKCommands	_tkCommands
std::vector< double >	_tkMotorCommands
float	_torqueToForceRatio

---

Detailed Description

Handler of a Quadrotor object for use with Telekyb2. It automatically subscribes to telekyb_msgs::TKMotorCommands messages for receiveng thrust commands to apply to the four propellers. It also publishes the status of the quadrotor using telekyb_msgs::TKState messages.

Definition at line 30 of file Quadrotor_tk_Handler.h.

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Constructor & Destructor Documentation

Quadrotor_tk_Handler::Quadrotor_tk_Handler

(

)

Definition at line 16 of file Quadrotor_tk_Handler.cpp.

Quadrotor_tk_Handler::~Quadrotor_tk_Handler

(

)

Definition at line 34 of file Quadrotor_tk_Handler.cpp.

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Member Function Documentation

void Quadrotor_tk_Handler::_initialize

(

)

[protected, virtual]

Implements GenericObjectHandler.

Definition at line 381 of file Quadrotor_tk_Handler.cpp.

unsigned int Quadrotor_tk_Handler::getObjectType

(

)

const [virtual]

Implements GenericObjectHandler.

Definition at line 37 of file Quadrotor_tk_Handler.cpp.

void Quadrotor_tk_Handler::handleSimulation

(

)

[virtual]

Implements GenericObjectHandler.

Definition at line 135 of file Quadrotor_tk_Handler.cpp.

void Quadrotor_tk_Handler::synchronize

(

)

[virtual]

Reimplemented from GenericObjectHandler.

Definition at line 69 of file Quadrotor_tk_Handler.cpp.

void Quadrotor_tk_Handler::tkCommandsCallback

(

const telekyb_msgs::TKCommands::ConstPtr &

msg

)

[protected]

Callback for thrust/roll/pitch/yaw command (TKCommands) message reception.

Parameters:

msg	Received thrust/roll/pitch/yaw command message.

Definition at line 519 of file Quadrotor_tk_Handler.cpp.

void Quadrotor_tk_Handler::tkMotorCommandsCallback

(

const telekyb_msgs::TKMotorCommands::ConstPtr &

msg

)

[protected]

Callback for force command (TKMotorCommands) message reception.

Parameters:

msg	Received force command message.

Definition at line 509 of file Quadrotor_tk_Handler.cpp.

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Member Data Documentation

simFloat Quadrotor_tk_Handler::_att_cutoff [protected]

Internal roll/pitch control cutoff frequency.

Definition at line 117 of file Quadrotor_tk_Handler.h.

simFloat Quadrotor_tk_Handler::_att_damping [protected]

Internal roll/pitch control damping factor.

Definition at line 122 of file Quadrotor_tk_Handler.h.

CustomDataHeaders::QuadrotorCtrlMode Quadrotor_tk_Handler::_ctrlMode [protected]

Quadrotor control mode. See QuadrotorCtrlMode.

Definition at line 132 of file Quadrotor_tk_Handler.h.

int Quadrotor_tk_Handler::_handleOfCoM [protected]

Handle of the robot CoM.

Definition at line 67 of file Quadrotor_tk_Handler.h.

int Quadrotor_tk_Handler::_handleOfJoint[4] [protected]

Handles of the four propellers.

Definition at line 62 of file Quadrotor_tk_Handler.h.

float Quadrotor_tk_Handler::_integralTermPitch [protected]

Definition at line 52 of file Quadrotor_tk_Handler.h.

float Quadrotor_tk_Handler::_integralTermRoll [protected]

The following variables are needed for the Integral part of the PID (roll and pitch respectively)

Definition at line 51 of file Quadrotor_tk_Handler.h.

simFloat Quadrotor_tk_Handler::_jointPosition[4][3] [protected]

Position of the four propellers w.r.t. the robot CoM.

Definition at line 77 of file Quadrotor_tk_Handler.h.

simFloat Quadrotor_tk_Handler::_kp_yaw [protected]

Internal yaw rate control proportional gain.

Definition at line 127 of file Quadrotor_tk_Handler.h.

ros::Time Quadrotor_tk_Handler::_lastPrintedMsg [protected]

Timer for printing messages.

Definition at line 102 of file Quadrotor_tk_Handler.h.

ros::Time Quadrotor_tk_Handler::_lastReceivedCmdTime [protected]

Timer for received commands.

Definition at line 97 of file Quadrotor_tk_Handler.h.

ros::Time Quadrotor_tk_Handler::_previousTime [protected]

This variable is needed to store the previousTime to perform an Integral of the angles to use an Integral part into the controller.

Definition at line 47 of file Quadrotor_tk_Handler.h.

ros::Publisher Quadrotor_tk_Handler::_pub [protected]

Publisher for the robot status.

Definition at line 82 of file Quadrotor_tk_Handler.h.

ros::Publisher Quadrotor_tk_Handler::_pubIMU [protected]

Publisher for the robot status.

Definition at line 87 of file Quadrotor_tk_Handler.h.

simFloat Quadrotor_tk_Handler::_quadrotorMass [protected]

Handle of the robot CoM.

Definition at line 72 of file Quadrotor_tk_Handler.h.

ros::Subscriber Quadrotor_tk_Handler::_sub [protected]

Subscriber for force commands.

Definition at line 92 of file Quadrotor_tk_Handler.h.

telekyb_msgs::TKCommands Quadrotor_tk_Handler::_tkCommands [protected]

Last received TKCommands message.

Definition at line 112 of file Quadrotor_tk_Handler.h.

std::vector<double> Quadrotor_tk_Handler::_tkMotorCommands [protected]

Last received TKMotorCommands commands.

Definition at line 107 of file Quadrotor_tk_Handler.h.

float Quadrotor_tk_Handler::_torqueToForceRatio [protected]

Ratio between force ( ) and torque ( ) produced by the propeller, i.e.

Definition at line 57 of file Quadrotor_tk_Handler.h.

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

• Quadrotor_tk_Handler.h
• Quadrotor_tk_Handler.cpp