rotors_control Namespace Reference

Classes
struct	EigenOdometry
class	LeePositionController
class	LeePositionControllerNode
class	LeePositionControllerParameters
class	RollPitchYawrateThrustController
class	RollPitchYawrateThrustControllerNode
class	RollPitchYawrateThrustControllerParameters
struct	Rotor
struct	RotorConfiguration
class	VehicleParameters
Functions
void	calculateAllocationMatrix (const RotorConfiguration &rotor_configuration, Eigen::Matrix4Xd *allocation_matrix)
void	eigenOdometryFromMsg (const nav_msgs::OdometryConstPtr &msg, EigenOdometry *odometry)
template<typename T >
void	GetRosParameter (const ros::NodeHandle &nh, const std::string &key, const T &default_value, T *value)
void	GetRotorConfiguration (const ros::NodeHandle &nh, RotorConfiguration *rotor_configuration)
void	GetVehicleParameters (const ros::NodeHandle &nh, VehicleParameters *vehicle_parameters)
void	skewMatrixFromVector (Eigen::Vector3d &vector, Eigen::Matrix3d *skew_matrix)
void	vectorFromSkewMatrix (Eigen::Matrix3d &skew_matrix, Eigen::Vector3d *vector)
Variables
static const Eigen::Vector3d	kDefaultAngularRateGain = Eigen::Vector3d(0.52, 0.52, 0.025)
static constexpr double	kDefaultArmLength = 0.215
static const Eigen::Vector3d	kDefaultAttitudeGain = Eigen::Vector3d(3, 3, 0.035)
static const std::string	kDefaultCommandMotorSpeedTopic
static const std::string	kDefaultCommandMultiDofJointTrajectoryTopic
static const std::string	kDefaultCommandRollPitchYawrateThrustTopic
static constexpr double	kDefaultGravity = 9.81
static const std::string	kDefaultImuTopic
static constexpr double	kDefaultInertiaXx = 0.0347563
static constexpr double	kDefaultInertiaYy = 0.0458929
static constexpr double	kDefaultInertiaZz = 0.0977
static constexpr double	kDefaultMass = 1.56779
static const std::string	kDefaultNamespace = ""
static const std::string	kDefaultOdometryTopic
static const Eigen::Vector3d	kDefaultPositionGain = Eigen::Vector3d(6, 6, 6)
static constexpr double	kDefaultRotor0Angle = 0.52359877559
static constexpr double	kDefaultRotor1Angle = 1.57079632679
static constexpr double	kDefaultRotor2Angle = 2.61799387799
static constexpr double	kDefaultRotor3Angle = -2.61799387799
static constexpr double	kDefaultRotor4Angle = -1.57079632679
static constexpr double	kDefaultRotor5Angle = -0.52359877559
static constexpr double	kDefaultRotorForceConstant = 8.54858e-6
static constexpr double	kDefaultRotorMomentConstant = 1.6e-2
static const Eigen::Vector3d	kDefaultVelocityGain = Eigen::Vector3d(4.7, 4.7, 4.7)

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Function Documentation

void rotors_control::calculateAllocationMatrix	(	const RotorConfiguration &	rotor_configuration,
		Eigen::Matrix4Xd *	allocation_matrix
	)		[inline]

Definition at line 79 of file common.h.

void rotors_control::eigenOdometryFromMsg	(	const nav_msgs::OdometryConstPtr &	msg,
		EigenOdometry *	odometry
	)		[inline]

Definition at line 71 of file common.h.

template<typename T >

void rotors_control::GetRosParameter	(	const ros::NodeHandle &	nh,
		const std::string &	key,
		const T &	default_value,
		T *	value
	)		[inline]

Definition at line 10 of file parameters_ros.h.

void rotors_control::GetRotorConfiguration	(	const ros::NodeHandle &	nh,
		RotorConfiguration *	rotor_configuration
	)		[inline]

Definition at line 23 of file parameters_ros.h.

void rotors_control::GetVehicleParameters	(	const ros::NodeHandle &	nh,
		VehicleParameters *	vehicle_parameters
	)		[inline]

Definition at line 48 of file parameters_ros.h.

void rotors_control::skewMatrixFromVector	(	Eigen::Vector3d &	vector,
		Eigen::Matrix3d *	skew_matrix
	)		[inline]

Definition at line 110 of file common.h.

void rotors_control::vectorFromSkewMatrix	(	Eigen::Matrix3d &	skew_matrix,
		Eigen::Vector3d *	vector
	)		[inline]

Definition at line 116 of file common.h.

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Variable Documentation

static const Eigen::Vector3d rotors_control::kDefaultAngularRateGain = Eigen::Vector3d(0.52, 0.52, 0.025) [static]

Definition at line 36 of file lee_position_controller.h.

constexpr double rotors_control::kDefaultArmLength = 0.215 [static]

Definition at line 15 of file parameters.h.

static const Eigen::Vector3d rotors_control::kDefaultAttitudeGain = Eigen::Vector3d(3, 3, 0.035) [static]

Definition at line 35 of file lee_position_controller.h.

const std::string rotors_control::kDefaultCommandMotorSpeedTopic [static]

Initial value:

    mav_msgs::default_topics::COMMAND_ACTUATORS

Definition at line 36 of file common.h.

const std::string rotors_control::kDefaultCommandMultiDofJointTrajectoryTopic [static]

Initial value:

    mav_msgs::default_topics::COMMAND_TRAJECTORY

Definition at line 38 of file common.h.

const std::string rotors_control::kDefaultCommandRollPitchYawrateThrustTopic [static]

Initial value:

    mav_msgs::default_topics::COMMAND_ROLL_PITCH_YAWRATE_THRUST

Definition at line 40 of file common.h.

constexpr double rotors_control::kDefaultGravity = 9.81 [static]

Definition at line 23 of file parameters.h.

const std::string rotors_control::kDefaultImuTopic [static]

Initial value:

    mav_msgs::default_topics::IMU

Definition at line 43 of file common.h.

constexpr double rotors_control::kDefaultInertiaXx = 0.0347563 [static]

Definition at line 16 of file parameters.h.

constexpr double rotors_control::kDefaultInertiaYy = 0.0458929 [static]

Definition at line 17 of file parameters.h.

constexpr double rotors_control::kDefaultInertiaZz = 0.0977 [static]

Definition at line 18 of file parameters.h.

constexpr double rotors_control::kDefaultMass = 1.56779 [static]

Definition at line 14 of file parameters.h.

const std::string rotors_control::kDefaultNamespace = "" [static]

Definition at line 35 of file common.h.

const std::string rotors_control::kDefaultOdometryTopic [static]

Initial value:

    mav_msgs::default_topics::ODOMETRY

Definition at line 45 of file common.h.

const Eigen::Vector3d rotors_control::kDefaultPositionGain = Eigen::Vector3d(6, 6, 6) [static]

Definition at line 33 of file lee_position_controller.h.

constexpr double rotors_control::kDefaultRotor0Angle = 0.52359877559 [static]

Definition at line 6 of file parameters.h.

constexpr double rotors_control::kDefaultRotor1Angle = 1.57079632679 [static]

Definition at line 7 of file parameters.h.

constexpr double rotors_control::kDefaultRotor2Angle = 2.61799387799 [static]

Definition at line 8 of file parameters.h.

constexpr double rotors_control::kDefaultRotor3Angle = -2.61799387799 [static]

Definition at line 9 of file parameters.h.

constexpr double rotors_control::kDefaultRotor4Angle = -1.57079632679 [static]

Definition at line 10 of file parameters.h.

constexpr double rotors_control::kDefaultRotor5Angle = -0.52359877559 [static]

Definition at line 11 of file parameters.h.

constexpr double rotors_control::kDefaultRotorForceConstant = 8.54858e-6 [static]

Definition at line 19 of file parameters.h.

constexpr double rotors_control::kDefaultRotorMomentConstant = 1.6e-2 [static]

Definition at line 20 of file parameters.h.

const Eigen::Vector3d rotors_control::kDefaultVelocityGain = Eigen::Vector3d(4.7, 4.7, 4.7) [static]

Definition at line 34 of file lee_position_controller.h.