rotors_control::RollPitchYawrateThrustController Class Reference

#include <roll_pitch_yawrate_thrust_controller.h>

List of all members.

Public Member Functions
void	CalculateRotorVelocities (Eigen::VectorXd *rotor_velocities) const
void	InitializeParameters ()
	RollPitchYawrateThrustController ()
void	SetOdometry (const EigenOdometry &odometry)
void	SetRollPitchYawrateThrust (const mav_msgs::EigenRollPitchYawrateThrust &roll_pitch_yawrate_thrust)
	~RollPitchYawrateThrustController ()
Public Attributes
RollPitchYawrateThrustControllerParameters	controller_parameters_
VehicleParameters	vehicle_parameters_
Private Member Functions
void	ComputeDesiredAngularAcc (Eigen::Vector3d *angular_acceleration) const
Private Attributes
Eigen::MatrixX4d	angular_acc_to_rotor_velocities_
bool	controller_active_
bool	initialized_params_
Eigen::Vector3d	normalized_angular_rate_gain_
Eigen::Vector3d	normalized_attitude_gain_
EigenOdometry	odometry_
mav_msgs::EigenRollPitchYawrateThrust	roll_pitch_yawrate_thrust_

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Detailed Description

Definition at line 51 of file roll_pitch_yawrate_thrust_controller.h.

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Constructor & Destructor Documentation

rotors_control::RollPitchYawrateThrustController::RollPitchYawrateThrustController

(

)

Definition at line 25 of file roll_pitch_yawrate_thrust_controller.cpp.

rotors_control::RollPitchYawrateThrustController::~RollPitchYawrateThrustController

(

)

Definition at line 31 of file roll_pitch_yawrate_thrust_controller.cpp.

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Member Function Documentation

void rotors_control::RollPitchYawrateThrustController::CalculateRotorVelocities

(

Eigen::VectorXd *

rotor_velocities

)

const

Definition at line 55 of file roll_pitch_yawrate_thrust_controller.cpp.

void rotors_control::RollPitchYawrateThrustController::ComputeDesiredAngularAcc

(

Eigen::Vector3d *

angular_acceleration

)

const [private]

Definition at line 90 of file roll_pitch_yawrate_thrust_controller.cpp.

void rotors_control::RollPitchYawrateThrustController::InitializeParameters

(

)

Definition at line 33 of file roll_pitch_yawrate_thrust_controller.cpp.

void rotors_control::RollPitchYawrateThrustController::SetOdometry

(

const EigenOdometry &

odometry

)

Definition at line 78 of file roll_pitch_yawrate_thrust_controller.cpp.

void rotors_control::RollPitchYawrateThrustController::SetRollPitchYawrateThrust

(

const mav_msgs::EigenRollPitchYawrateThrust &

roll_pitch_yawrate_thrust

)

Definition at line 82 of file roll_pitch_yawrate_thrust_controller.cpp.

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Member Data Documentation

Eigen::MatrixX4d rotors_control::RollPitchYawrateThrustController::angular_acc_to_rotor_velocities_ [private]

Definition at line 72 of file roll_pitch_yawrate_thrust_controller.h.

bool rotors_control::RollPitchYawrateThrustController::controller_active_ [private]

Definition at line 68 of file roll_pitch_yawrate_thrust_controller.h.

RollPitchYawrateThrustControllerParameters rotors_control::RollPitchYawrateThrustController::controller_parameters_

Definition at line 62 of file roll_pitch_yawrate_thrust_controller.h.

bool rotors_control::RollPitchYawrateThrustController::initialized_params_ [private]

Definition at line 67 of file roll_pitch_yawrate_thrust_controller.h.

Eigen::Vector3d rotors_control::RollPitchYawrateThrustController::normalized_angular_rate_gain_ [private]

Definition at line 71 of file roll_pitch_yawrate_thrust_controller.h.

Eigen::Vector3d rotors_control::RollPitchYawrateThrustController::normalized_attitude_gain_ [private]

Definition at line 70 of file roll_pitch_yawrate_thrust_controller.h.

EigenOdometry rotors_control::RollPitchYawrateThrustController::odometry_ [private]

Definition at line 75 of file roll_pitch_yawrate_thrust_controller.h.

mav_msgs::EigenRollPitchYawrateThrust rotors_control::RollPitchYawrateThrustController::roll_pitch_yawrate_thrust_ [private]

Definition at line 74 of file roll_pitch_yawrate_thrust_controller.h.

VehicleParameters rotors_control::RollPitchYawrateThrustController::vehicle_parameters_

Definition at line 63 of file roll_pitch_yawrate_thrust_controller.h.

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

• roll_pitch_yawrate_thrust_controller.h
• roll_pitch_yawrate_thrust_controller.cpp