motor_controller.cpp
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00001 /*
00002  * Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
00003  * Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
00004  * Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
00005  * Copyright 2015 Janosch Nikolic, ASL, ETH Zurich, Switzerland
00006  * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
00007  *
00008  * Licensed under the Apache License, Version 2.0 (the "License");
00009  * you may not use this file except in compliance with the License.
00010  * You may obtain a copy of the License at
00011  *
00012  *     http://www.apache.org/licenses/LICENSE-2.0
00013 
00014  * Unless required by applicable law or agreed to in writing, software
00015  * distributed under the License is distributed on an "AS IS" BASIS,
00016  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00017  * See the License for the specific language governing permissions and
00018  * limitations under the License.
00019  */
00020 
00021 #include "rotors_control/motor_controller.h"
00022 
00023 MotorController::MotorController() {
00024 }
00025 
00026 MotorController::~MotorController() {
00027 }
00028 
00029 std::shared_ptr<ControllerBase> MotorController::Clone() {
00030   std::shared_ptr<ControllerBase> controller(new MotorController);
00031   return controller;
00032 }
00033 
00034 void MotorController::InitializeParams() {
00035   amount_rotors_ = 6;
00036   initialized_params_ = true;
00037 }
00038 
00039 void MotorController::CalculateRotorVelocities(Eigen::VectorXd* rotor_velocities) const {
00040   assert(rotor_velocities);
00041   assert(initialized_params_);
00042 
00043   rotor_velocities->resize(amount_rotors_);
00044 
00045   *rotor_velocities = motor_reference_;
00046 }
00047 
00048 ROTORS_CONTROL_REGISTER_CONTROLLER(MotorController);


rotors_control
Author(s): Fadri Furrer, Michael Burri, Mina Kamel, Janosch Nikolic, Markus Achtelik
autogenerated on Thu Apr 18 2019 02:43:38