motor_controller.h
Go to the documentation of this file.
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 #ifndef ROTORS_CONTROL_MOTOR_CONTROLLER_H
00022 #define ROTORS_CONTROL_MOTOR_CONTROLLER_H
00023 
00024 #include "rotors_control/controller_base.h"
00025 #include "rotors_control/controller_factory.h"
00026 
00027 class MotorController : public ControllerBase {
00028  public:
00029   MotorController();
00030   virtual ~MotorController();
00031   virtual void InitializeParams();
00032   virtual std::shared_ptr<ControllerBase> Clone();
00033   virtual void CalculateRotorVelocities(Eigen::VectorXd* rotor_velocities) const;
00034 
00035   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00036  private:
00037   Eigen::Matrix4Xd allocation_matrix_;
00038   Eigen::MatrixX4d angular_acc_to_rotor_velocities_;
00039   Eigen::Vector3d gain_attitude_;
00040   Eigen::Vector3d gain_angular_rate_;
00041   Eigen::Matrix3d inertia_matrix_;
00042 };
00043 
00044 #endif // ROTORS_CONTROL_MOTOR_CONTROLLER_H


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